Hugging Face's logo

Datasets:
WanyueZhang
/
MulSeT

Modalities:
Image
Languages:
English
ArXiv:
Tags:
computer-vision
visual-question-answering
multi-modal
spatial-reasoning
synthetic-data
License:
Dataset card Data Studio Files
xet
Community
2
WanyueZhang commited on
Commit
fad32a5
·
verified ·
1 Parent(s): 4e0f772

Upload dataset files (batch 149/552)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +250 -0
  2. train/train1266/0/0.json +894 -0
  3. train/train1266/0/0_depth_npy.npy +3 -0
  4. train/train1266/0/0_semantic_sensor_npy.npy +3 -0
  5. train/train1266/0/1.json +566 -0
  6. train/train1266/0/1_depth_npy.npy +3 -0
  7. train/train1266/0/1_semantic_sensor_npy.npy +3 -0
  8. train/train1266/0/depth_0.png +0 -0
  9. train/train1266/0/depth_1.png +0 -0
  10. train/train1266/0/mask_questions.jsonl +0 -0
  11. train/train1266/0/rgb_0.png +3 -0
  12. train/train1266/0/rgb_1.png +3 -0
  13. train/train1266/0/semantic_0.png +0 -0
  14. train/train1266/0/semantic_1.png +0 -0
  15. train/train1266/1/0.json +894 -0
  16. train/train1266/1/0_depth_npy.npy +3 -0
  17. train/train1266/1/0_semantic_sensor_npy.npy +3 -0
  18. train/train1266/1/1.json +1379 -0
  19. train/train1266/1/1_depth_npy.npy +3 -0
  20. train/train1266/1/1_semantic_sensor_npy.npy +3 -0
  21. train/train1266/1/depth_0.png +0 -0
  22. train/train1266/1/depth_1.png +0 -0
  23. train/train1266/1/mask_questions.jsonl +0 -0
  24. train/train1266/1/rgb_0.png +3 -0
  25. train/train1266/1/rgb_1.png +3 -0
  26. train/train1266/1/semantic_0.png +0 -0
  27. train/train1266/1/semantic_1.png +0 -0
  28. train/train1266/2/0.json +522 -0
  29. train/train1266/2/0_depth_npy.npy +3 -0
  30. train/train1266/2/0_semantic_sensor_npy.npy +3 -0
  31. train/train1266/2/1.json +1422 -0
  32. train/train1266/2/1_depth_npy.npy +3 -0
  33. train/train1266/2/1_semantic_sensor_npy.npy +3 -0
  34. train/train1266/2/depth_0.png +0 -0
  35. train/train1266/2/depth_1.png +0 -0
  36. train/train1266/2/mask_questions.jsonl +0 -0
  37. train/train1266/2/rgb_0.png +3 -0
  38. train/train1266/2/rgb_1.png +3 -0
  39. train/train1266/2/semantic_0.png +0 -0
  40. train/train1266/2/semantic_1.png +0 -0
  41. train/train1266/3/0.json +1043 -0
  42. train/train1266/3/0_depth_npy.npy +3 -0
  43. train/train1266/3/0_semantic_sensor_npy.npy +3 -0
  44. train/train1266/3/1.json +1380 -0
  45. train/train1266/3/1_depth_npy.npy +3 -0
  46. train/train1266/3/1_semantic_sensor_npy.npy +3 -0
  47. train/train1266/3/depth_0.png +0 -0
  48. train/train1266/3/depth_1.png +0 -0
  49. train/train1266/3/mask_questions.jsonl +4 -0
  50. train/train1266/3/questions_direction.jsonl +6 -0
.gitattributes CHANGED
@@ -38018,3 +38018,253 @@ train/train2293/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38018
  train/train2293/3/rgb_0_mask_ShelvingUnit|6|4___4.png filter=lfs diff=lfs merge=lfs -text
38019
  train/train2293/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38020
  train/train2293/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
38018
  train/train2293/3/rgb_0_mask_ShelvingUnit|6|4___4.png filter=lfs diff=lfs merge=lfs -text
38019
  train/train2293/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38020
  train/train2293/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38021
+ train/train2293/3/rgb_1_mask_ShelvingUnit|6|4___4.png filter=lfs diff=lfs merge=lfs -text
38022
+ train/train2293/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38023
+ train/train2293/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38024
+ train/train2293/3/rgb_0_mask_ShelvingUnit|6|4___2.png filter=lfs diff=lfs merge=lfs -text
38025
+ train/train2293/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38026
+ train/train2293/3/rgb_1_mask_ShelvingUnit|6|4___1.png filter=lfs diff=lfs merge=lfs -text
38027
+ train/train2293/4/rgb_1_mask_Painting|6|6.png filter=lfs diff=lfs merge=lfs -text
38028
+ train/train2293/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38029
+ train/train2293/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38030
+ train/train2293/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38031
+ train/train2293/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38032
+ train/train2293/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38033
+ train/train2293/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38034
+ train/train2293/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38035
+ train/train2293/0/rgb_1_mask_ShelvingUnit|6|3___2.png filter=lfs diff=lfs merge=lfs -text
38036
+ train/train2293/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38037
+ train/train2293/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38038
+ train/train2293/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38039
+ train/train2293/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38040
+ train/train2293/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38041
+ train/train2293/0/rgb_0_mask_ShelvingUnit|6|3___1.png filter=lfs diff=lfs merge=lfs -text
38042
+ train/train2293/0/rgb_1_mask_ShelvingUnit|6|3___0.png filter=lfs diff=lfs merge=lfs -text
38043
+ train/train2293/0/rgb_1_mask_ShelvingUnit|6|3___1.png filter=lfs diff=lfs merge=lfs -text
38044
+ train/train2293/1/rgb_1_mask_ShelvingUnit|6|4___2.png filter=lfs diff=lfs merge=lfs -text
38045
+ train/train2293/1/rgb_1_mask_ShelvingUnit|6|4___3.png filter=lfs diff=lfs merge=lfs -text
38046
+ train/train2293/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38047
+ train/train2293/1/rgb_0_mask_ShelvingUnit|6|4___4.png filter=lfs diff=lfs merge=lfs -text
38048
+ train/train2293/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38049
+ train/train2293/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38050
+ train/train2293/1/rgb_1_mask_ShelvingUnit|6|4___4.png filter=lfs diff=lfs merge=lfs -text
38051
+ train/train2293/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38052
+ train/train2293/1/rgb_0_mask_ShelvingUnit|6|4___3.png filter=lfs diff=lfs merge=lfs -text
38053
+ train/train2293/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38054
+ train/train2293/1/rgb_0_mask_ShelvingUnit|6|4___2.png filter=lfs diff=lfs merge=lfs -text
38055
+ train/train2293/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38056
+ train/train2293/1/rgb_0_mask_CounterTop|6|0.png filter=lfs diff=lfs merge=lfs -text
38057
+ train/train2293/2/rgb_1_mask_ShelvingUnit|6|4___2.png filter=lfs diff=lfs merge=lfs -text
38058
+ train/train2293/2/rgb_0_mask_Vase|surface|6|19.png filter=lfs diff=lfs merge=lfs -text
38059
+ train/train2293/2/rgb_0_mask_ShelvingUnit|6|4___1.png filter=lfs diff=lfs merge=lfs -text
38060
+ train/train2293/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38061
+ train/train2293/2/rgb_0_mask_ShelvingUnit|6|4___4.png filter=lfs diff=lfs merge=lfs -text
38062
+ train/train2293/2/rgb_1_mask_Statue|surface|6|8.png filter=lfs diff=lfs merge=lfs -text
38063
+ train/train2293/2/rgb_1_mask_window|6|0.png filter=lfs diff=lfs merge=lfs -text
38064
+ train/train2293/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38065
+ train/train2293/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38066
+ train/train2293/2/rgb_1_mask_Vase|surface|6|19.png filter=lfs diff=lfs merge=lfs -text
38067
+ train/train2293/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38068
+ train/train2293/2/rgb_0_mask_ShelvingUnit|6|4___3.png filter=lfs diff=lfs merge=lfs -text
38069
+ train/train2293/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38070
+ train/train2293/2/rgb_0_mask_ShelvingUnit|6|4___2.png filter=lfs diff=lfs merge=lfs -text
38071
+ train/train2293/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38072
+ train/train2293/2/rgb_0_mask_window|6|0.png filter=lfs diff=lfs merge=lfs -text
38073
+ train/train2293/2/rgb_1_mask_ShelvingUnit|6|4___1.png filter=lfs diff=lfs merge=lfs -text
38074
+ train/train848/top_down_image.png filter=lfs diff=lfs merge=lfs -text
38075
+ train/train848/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38076
+ train/train848/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38077
+ train/train848/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38078
+ train/train848/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38079
+ train/train848/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38080
+ train/train848/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38081
+ train/train848/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38082
+ train/train848/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38083
+ train/train848/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38084
+ train/train848/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38085
+ train/train848/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38086
+ train/train848/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38087
+ train/train848/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
38088
+ train/train848/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
38089
+ train/train848/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38090
+ train/train848/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38091
+ train/train848/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38092
+ train/train848/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
38093
+ train/train848/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38094
+ train/train848/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
38095
+ train/train848/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38096
+ train/train848/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
38097
+ train/train848/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38098
+ train/train848/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38099
+ train/train848/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38100
+ train/train848/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38101
+ train/train848/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38102
+ train/train848/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38103
+ train/train848/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38104
+ train/train848/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38105
+ train/train848/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38106
+ train/train848/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38107
+ train/train848/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38108
+ train/train848/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38109
+ train/train848/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38110
+ train/train249/top_down_image.png filter=lfs diff=lfs merge=lfs -text
38111
+ train/train249/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38112
+ train/train249/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38113
+ train/train249/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38114
+ train/train249/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38115
+ train/train249/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38116
+ train/train249/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38117
+ train/train249/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38118
+ train/train249/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38119
+ train/train249/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38120
+ train/train249/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38121
+ train/train249/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38122
+ train/train249/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38123
+ train/train249/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
38124
+ train/train249/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
38125
+ train/train249/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38126
+ train/train249/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38127
+ train/train249/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38128
+ train/train249/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
38129
+ train/train249/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38130
+ train/train249/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
38131
+ train/train249/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38132
+ train/train249/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
38133
+ train/train249/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38134
+ train/train2129/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38135
+ train/train2129/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38136
+ train/train2129/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38137
+ train/train2129/3/rgb_0_mask_Painting|2|8.png filter=lfs diff=lfs merge=lfs -text
38138
+ train/train2129/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38139
+ train/train2129/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38140
+ train/train2129/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38141
+ train/train2129/3/rgb_1_mask_Painting|2|8.png filter=lfs diff=lfs merge=lfs -text
38142
+ train/train2129/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38143
+ train/train2129/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38144
+ train/train2129/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38145
+ train/train2129/4/rgb_0_mask_Painting|2|8.png filter=lfs diff=lfs merge=lfs -text
38146
+ train/train2129/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38147
+ train/train2129/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38148
+ train/train2129/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38149
+ train/train2129/4/rgb_1_mask_Painting|2|8.png filter=lfs diff=lfs merge=lfs -text
38150
+ train/train2129/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38151
+ train/train2129/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38152
+ train/train2129/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38153
+ train/train2129/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38154
+ train/train2129/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38155
+ train/train2129/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38156
+ train/train2129/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38157
+ train/train2129/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38158
+ train/train2129/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38159
+ train/train2129/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38160
+ train/train2129/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38161
+ train/train2129/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38162
+ train/train2129/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38163
+ train/train2129/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38164
+ train/train2129/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38165
+ train/train2129/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38166
+ train/train2129/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38167
+ train/train2129/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38168
+ train/train2009/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38169
+ train/train2009/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38170
+ train/train2009/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38171
+ train/train2009/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38172
+ train/train2009/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38173
+ train/train2009/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38174
+ train/train2009/2/rgb_0_mask_SideTable|2|4.png filter=lfs diff=lfs merge=lfs -text
38175
+ train/train146/top_down_image.png filter=lfs diff=lfs merge=lfs -text
38176
+ train/train146/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38177
+ train/train146/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38178
+ train/train146/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38179
+ train/train146/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38180
+ train/train146/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38181
+ train/train146/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38182
+ train/train146/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38183
+ train/train146/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38184
+ train/train146/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38185
+ train/train146/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38186
+ train/train146/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38187
+ train/train146/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38188
+ train/train146/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38189
+ train/train146/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38190
+ train/train146/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38191
+ train/train146/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38192
+ train/train146/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38193
+ train/train146/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38194
+ train/train1266/3/rgb_0_mask_AlarmClock|surface|2|26.png filter=lfs diff=lfs merge=lfs -text
38195
+ train/train1266/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38196
+ train/train1266/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38197
+ train/train1266/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38198
+ train/train1266/3/rgb_1_mask_Dresser|2|1___3.png filter=lfs diff=lfs merge=lfs -text
38199
+ train/train1266/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38200
+ train/train1266/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38201
+ train/train1266/3/rgb_1_mask_Dresser|2|1___2.png filter=lfs diff=lfs merge=lfs -text
38202
+ train/train1266/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38203
+ train/train1266/3/rgb_1_mask_AlarmClock|surface|2|26.png filter=lfs diff=lfs merge=lfs -text
38204
+ train/train1266/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38205
+ train/train1266/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38206
+ train/train1266/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38207
+ train/train1266/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38208
+ train/train1266/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38209
+ train/train1266/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38210
+ train/train1266/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38211
+ train/train1266/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38212
+ train/train1266/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38213
+ train/train1266/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38214
+ train/train1266/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38215
+ train/train1266/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38216
+ train/train1266/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38217
+ train/train1266/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38218
+ train/train1266/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38219
+ train/train1266/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38220
+ train/train1266/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38221
+ train/train1266/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38222
+ train/train1266/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38223
+ train/train1266/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38224
+ train/train1266/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38225
+ train/train1266/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38226
+ train/train1266/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38227
+ train/train1266/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38228
+ train/train1459/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38229
+ train/train1459/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38230
+ train/train1459/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38231
+ train/train1459/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38232
+ train/train1459/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38233
+ train/train1459/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38234
+ train/train1459/4/rgb_0_mask_Safe|8|4.png filter=lfs diff=lfs merge=lfs -text
38235
+ train/train1459/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38236
+ train/train1459/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38237
+ train/train1459/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38238
+ train/train1459/4/rgb_0_mask_Tomato|surface|8|11.png filter=lfs diff=lfs merge=lfs -text
38239
+ train/train1459/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38240
+ train/train1459/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38241
+ train/train1459/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38242
+ train/train1459/4/rgb_1_mask_Safe|8|4.png filter=lfs diff=lfs merge=lfs -text
38243
+ train/train1459/4/rgb_1_mask_Tomato|surface|8|11.png filter=lfs diff=lfs merge=lfs -text
38244
+ train/train1459/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38245
+ train/train1459/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38246
+ train/train1459/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38247
+ train/train1459/0/rgb_0_mask_window|8|1.png filter=lfs diff=lfs merge=lfs -text
38248
+ train/train1459/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38249
+ train/train1459/0/rgb_1_mask_window|8|1.png filter=lfs diff=lfs merge=lfs -text
38250
+ train/train1459/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38251
+ train/train1459/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38252
+ train/train1459/1/rgb_0_mask_Safe|8|4.png filter=lfs diff=lfs merge=lfs -text
38253
+ train/train1459/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38254
+ train/train1459/1/rgb_1_mask_Microwave|surface|8|18.png filter=lfs diff=lfs merge=lfs -text
38255
+ train/train1459/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38256
+ train/train1459/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38257
+ train/train1459/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38258
+ train/train1459/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38259
+ train/train1459/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38260
+ train/train1459/1/rgb_1_mask_Safe|8|4.png filter=lfs diff=lfs merge=lfs -text
38261
+ train/train1459/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38262
+ train/train1459/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
38263
+ train/train1459/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38264
+ train/train1459/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38265
+ train/train1459/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
38266
+ train/train1459/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
38267
+ train/train1459/2/rgb_0_mask_CounterTop|8|0.png filter=lfs diff=lfs merge=lfs -text
38268
+ train/train1645/3/rgb_1_mask_door|1|3.png filter=lfs diff=lfs merge=lfs -text
38269
+ train/train1645/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
38270
+ train/train1645/3/rgb_0_mask_door|1|3.png filter=lfs diff=lfs merge=lfs -text
train/train1266/0/0.json ADDED
@@ -0,0 +1,894 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "door|2|6",
5
+ "object_info": {
6
+ "name": "door|2|6",
7
+ "position": {
8
+ "x": 4.960543155670166,
9
+ "y": -0.0005983114242553711,
10
+ "z": 3.6700501441955566
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": false,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": true,
39
+ "isOpen": true,
40
+ "openness": 1.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": null,
47
+ "distance": 2.1215627193450928,
48
+ "objectType": "Doorway",
49
+ "objectId": "door|2|6",
50
+ "assetId": "Doorway_8",
51
+ "parentReceptacles": [
52
+ "Floor"
53
+ ],
54
+ "controlledObjects": null,
55
+ "isMoving": false,
56
+ "axisAlignedBoundingBox": {
57
+ "cornerPoints": [
58
+ [
59
+ 4.9760847091674805,
60
+ 2.0993974208831787,
61
+ 3.739671468734741
62
+ ],
63
+ [
64
+ 4.9760847091674805,
65
+ 2.0993974208831787,
66
+ 2.7530148029327393
67
+ ],
68
+ [
69
+ 4.9760847091674805,
70
+ 0.0,
71
+ 3.739671468734741
72
+ ],
73
+ [
74
+ 4.9760847091674805,
75
+ 0.0,
76
+ 2.7530148029327393
77
+ ],
78
+ [
79
+ 3.9121217727661133,
80
+ 2.0993974208831787,
81
+ 3.739671468734741
82
+ ],
83
+ [
84
+ 3.9121217727661133,
85
+ 2.0993974208831787,
86
+ 2.7530148029327393
87
+ ],
88
+ [
89
+ 3.9121217727661133,
90
+ 0.0,
91
+ 3.739671468734741
92
+ ],
93
+ [
94
+ 3.9121217727661133,
95
+ 0.0,
96
+ 2.7530148029327393
97
+ ]
98
+ ],
99
+ "center": {
100
+ "x": 4.444103240966797,
101
+ "y": 1.0496987104415894,
102
+ "z": 3.2463431358337402
103
+ },
104
+ "size": {
105
+ "x": 1.0639629364013672,
106
+ "y": 2.0993974208831787,
107
+ "z": 0.986656665802002
108
+ }
109
+ },
110
+ "objectOrientedBoundingBox": null
111
+ }
112
+ },
113
+ {
114
+ "objectId": "Bed|2|0|0",
115
+ "object_info": {
116
+ "name": "Bed|2|0|0",
117
+ "position": {
118
+ "x": 1.0386500358581543,
119
+ "y": -0.0012215971946716309,
120
+ "z": 0.7582886815071106
121
+ },
122
+ "rotation": {
123
+ "x": -0.0,
124
+ "y": 90.0,
125
+ "z": -0.0
126
+ },
127
+ "visible": false,
128
+ "isInteractable": false,
129
+ "receptacle": true,
130
+ "toggleable": false,
131
+ "isToggled": false,
132
+ "breakable": false,
133
+ "isBroken": false,
134
+ "canFillWithLiquid": false,
135
+ "isFilledWithLiquid": false,
136
+ "fillLiquid": null,
137
+ "dirtyable": true,
138
+ "isDirty": true,
139
+ "canBeUsedUp": false,
140
+ "isUsedUp": false,
141
+ "cookable": false,
142
+ "isCooked": false,
143
+ "temperature": "RoomTemp",
144
+ "isHeatSource": false,
145
+ "isColdSource": false,
146
+ "sliceable": false,
147
+ "isSliced": false,
148
+ "openable": false,
149
+ "isOpen": false,
150
+ "openness": 0.0,
151
+ "pickupable": false,
152
+ "isPickedUp": false,
153
+ "moveable": true,
154
+ "mass": 29.999998092651367,
155
+ "salientMaterials": [
156
+ "Wood",
157
+ "Fabric"
158
+ ],
159
+ "receptacleObjectIds": [
160
+ "Laptop|surface|2|27",
161
+ "Pillow|2|0|1",
162
+ "Pillow|2|0|2"
163
+ ],
164
+ "distance": 4.182079315185547,
165
+ "objectType": "Bed",
166
+ "objectId": "Bed|2|0|0",
167
+ "assetId": "Bed_1",
168
+ "parentReceptacles": [
169
+ "Floor"
170
+ ],
171
+ "controlledObjects": null,
172
+ "isMoving": false,
173
+ "axisAlignedBoundingBox": {
174
+ "cornerPoints": [
175
+ [
176
+ 2.0997321605682373,
177
+ 0.9101964235305786,
178
+ 1.4917998313903809
179
+ ],
180
+ [
181
+ 2.0997321605682373,
182
+ 0.9101964235305786,
183
+ 0.024999797344207764
184
+ ],
185
+ [
186
+ 2.0997321605682373,
187
+ 0.0,
188
+ 1.4917998313903809
189
+ ],
190
+ [
191
+ 2.0997321605682373,
192
+ 0.0,
193
+ 0.024999797344207764
194
+ ],
195
+ [
196
+ 0.024999618530273438,
197
+ 0.9101964235305786,
198
+ 1.4917998313903809
199
+ ],
200
+ [
201
+ 0.024999618530273438,
202
+ 0.9101964235305786,
203
+ 0.024999797344207764
204
+ ],
205
+ [
206
+ 0.024999618530273438,
207
+ 0.0,
208
+ 1.4917998313903809
209
+ ],
210
+ [
211
+ 0.024999618530273438,
212
+ 0.0,
213
+ 0.024999797344207764
214
+ ]
215
+ ],
216
+ "center": {
217
+ "x": 1.0623658895492554,
218
+ "y": 0.4550982117652893,
219
+ "z": 0.7583997845649719
220
+ },
221
+ "size": {
222
+ "x": 2.074732542037964,
223
+ "y": 0.9101964235305786,
224
+ "z": 1.4667999744415283
225
+ }
226
+ },
227
+ "objectOrientedBoundingBox": {
228
+ "cornerPoints": [
229
+ [
230
+ 2.0997323989868164,
231
+ 0.0,
232
+ 0.024999797344207764
233
+ ],
234
+ [
235
+ 2.0997323989868164,
236
+ 0.0,
237
+ 1.4917998313903809
238
+ ],
239
+ [
240
+ 0.02499985694885254,
241
+ 0.0,
242
+ 1.49180006980896
243
+ ],
244
+ [
245
+ 0.02499985694885254,
246
+ 0.0,
247
+ 0.025000035762786865
248
+ ],
249
+ [
250
+ 2.0997323989868164,
251
+ 0.9101961851119995,
252
+ 0.024999797344207764
253
+ ],
254
+ [
255
+ 2.0997323989868164,
256
+ 0.9101961851119995,
257
+ 1.4917998313903809
258
+ ],
259
+ [
260
+ 0.02499985694885254,
261
+ 0.9101961851119995,
262
+ 1.49180006980896
263
+ ],
264
+ [
265
+ 0.02499985694885254,
266
+ 0.9101961851119995,
267
+ 0.025000035762786865
268
+ ]
269
+ ]
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "objectId": "ArmChair|2|2|0",
275
+ "object_info": {
276
+ "name": "ArmChair|2|2|0",
277
+ "position": {
278
+ "x": 1.433853030204773,
279
+ "y": -5.155801773071289e-06,
280
+ "z": 3.2342398166656494
281
+ },
282
+ "rotation": {
283
+ "x": 0.0,
284
+ "y": 180.0,
285
+ "z": 0.0
286
+ },
287
+ "visible": false,
288
+ "isInteractable": false,
289
+ "receptacle": true,
290
+ "toggleable": false,
291
+ "isToggled": false,
292
+ "breakable": false,
293
+ "isBroken": false,
294
+ "canFillWithLiquid": false,
295
+ "isFilledWithLiquid": false,
296
+ "fillLiquid": null,
297
+ "dirtyable": false,
298
+ "isDirty": false,
299
+ "canBeUsedUp": false,
300
+ "isUsedUp": false,
301
+ "cookable": false,
302
+ "isCooked": false,
303
+ "temperature": "RoomTemp",
304
+ "isHeatSource": false,
305
+ "isColdSource": false,
306
+ "sliceable": false,
307
+ "isSliced": false,
308
+ "openable": false,
309
+ "isOpen": false,
310
+ "openness": 0.0,
311
+ "pickupable": false,
312
+ "isPickedUp": false,
313
+ "moveable": true,
314
+ "mass": 28.299999237060547,
315
+ "salientMaterials": [
316
+ "Fabric"
317
+ ],
318
+ "receptacleObjectIds": [],
319
+ "distance": 3.966381311416626,
320
+ "objectType": "ArmChair",
321
+ "objectId": "ArmChair|2|2|0",
322
+ "assetId": "RoboTHOR_armchair_ektorp",
323
+ "parentReceptacles": [
324
+ "Floor"
325
+ ],
326
+ "controlledObjects": null,
327
+ "isMoving": false,
328
+ "axisAlignedBoundingBox": {
329
+ "cornerPoints": [
330
+ [
331
+ 1.917144775390625,
332
+ 0.8387728929519653,
333
+ 3.645007610321045
334
+ ],
335
+ [
336
+ 1.917144775390625,
337
+ 0.8387728929519653,
338
+ 2.793361186981201
339
+ ],
340
+ [
341
+ 1.917144775390625,
342
+ -5.364418029785156e-06,
343
+ 3.645007610321045
344
+ ],
345
+ [
346
+ 1.917144775390625,
347
+ -5.364418029785156e-06,
348
+ 2.793361186981201
349
+ ],
350
+ [
351
+ 0.9460439682006836,
352
+ 0.8387728929519653,
353
+ 3.645007610321045
354
+ ],
355
+ [
356
+ 0.9460439682006836,
357
+ 0.8387728929519653,
358
+ 2.793361186981201
359
+ ],
360
+ [
361
+ 0.9460439682006836,
362
+ -5.364418029785156e-06,
363
+ 3.645007610321045
364
+ ],
365
+ [
366
+ 0.9460439682006836,
367
+ -5.364418029785156e-06,
368
+ 2.793361186981201
369
+ ]
370
+ ],
371
+ "center": {
372
+ "x": 1.4315943717956543,
373
+ "y": 0.4193837642669678,
374
+ "z": 3.219184398651123
375
+ },
376
+ "size": {
377
+ "x": 0.9711008071899414,
378
+ "y": 0.8387782573699951,
379
+ "z": 0.8516464233398438
380
+ }
381
+ },
382
+ "objectOrientedBoundingBox": {
383
+ "cornerPoints": [
384
+ [
385
+ 0.9460440874099731,
386
+ -5.155801773071289e-06,
387
+ 2.7933616638183594
388
+ ],
389
+ [
390
+ 1.917144775390625,
391
+ -5.155801773071289e-06,
392
+ 2.7933616638183594
393
+ ],
394
+ [
395
+ 1.917144775390625,
396
+ -5.155801773071289e-06,
397
+ 3.645007371902466
398
+ ],
399
+ [
400
+ 0.9460440874099731,
401
+ -5.155801773071289e-06,
402
+ 3.645007371902466
403
+ ],
404
+ [
405
+ 0.9460440874099731,
406
+ 0.8387726545333862,
407
+ 2.7933616638183594
408
+ ],
409
+ [
410
+ 1.917144775390625,
411
+ 0.8387726545333862,
412
+ 2.7933616638183594
413
+ ],
414
+ [
415
+ 1.917144775390625,
416
+ 0.8387726545333862,
417
+ 3.645007371902466
418
+ ],
419
+ [
420
+ 0.9460440874099731,
421
+ 0.8387726545333862,
422
+ 3.645007371902466
423
+ ]
424
+ ]
425
+ }
426
+ }
427
+ },
428
+ {
429
+ "objectId": "Laptop|surface|2|27",
430
+ "object_info": {
431
+ "name": "Laptop|surface|2|27",
432
+ "position": {
433
+ "x": 1.795939564704895,
434
+ "y": 0.5547783970832825,
435
+ "z": 1.109070062637329
436
+ },
437
+ "rotation": {
438
+ "x": 4.702925434685312e-05,
439
+ "y": 270.0001220703125,
440
+ "z": -6.529131496790797e-05
441
+ },
442
+ "visible": false,
443
+ "isInteractable": false,
444
+ "receptacle": false,
445
+ "toggleable": true,
446
+ "isToggled": false,
447
+ "breakable": true,
448
+ "isBroken": false,
449
+ "canFillWithLiquid": false,
450
+ "isFilledWithLiquid": false,
451
+ "fillLiquid": null,
452
+ "dirtyable": false,
453
+ "isDirty": false,
454
+ "canBeUsedUp": false,
455
+ "isUsedUp": false,
456
+ "cookable": false,
457
+ "isCooked": false,
458
+ "temperature": "RoomTemp",
459
+ "isHeatSource": false,
460
+ "isColdSource": false,
461
+ "sliceable": false,
462
+ "isSliced": false,
463
+ "openable": true,
464
+ "isOpen": false,
465
+ "openness": 0.0,
466
+ "pickupable": true,
467
+ "isPickedUp": false,
468
+ "moveable": false,
469
+ "mass": 2.299999952316284,
470
+ "salientMaterials": [
471
+ "Metal",
472
+ "Plastic",
473
+ "Glass"
474
+ ],
475
+ "receptacleObjectIds": null,
476
+ "distance": 3.285827875137329,
477
+ "objectType": "Laptop",
478
+ "objectId": "Laptop|surface|2|27",
479
+ "assetId": "Laptop_14",
480
+ "parentReceptacles": [
481
+ "Bed|2|0|0",
482
+ "Floor"
483
+ ],
484
+ "controlledObjects": [],
485
+ "isMoving": false,
486
+ "axisAlignedBoundingBox": {
487
+ "cornerPoints": [
488
+ [
489
+ 1.9401884078979492,
490
+ 0.5945297479629517,
491
+ 1.3493633270263672
492
+ ],
493
+ [
494
+ 1.9401884078979492,
495
+ 0.5945297479629517,
496
+ 0.868776798248291
497
+ ],
498
+ [
499
+ 1.9401884078979492,
500
+ 0.554777979850769,
501
+ 1.3493633270263672
502
+ ],
503
+ [
504
+ 1.9401884078979492,
505
+ 0.554777979850769,
506
+ 0.868776798248291
507
+ ],
508
+ [
509
+ 1.650749683380127,
510
+ 0.5945297479629517,
511
+ 1.3493633270263672
512
+ ],
513
+ [
514
+ 1.650749683380127,
515
+ 0.5945297479629517,
516
+ 0.868776798248291
517
+ ],
518
+ [
519
+ 1.650749683380127,
520
+ 0.554777979850769,
521
+ 1.3493633270263672
522
+ ],
523
+ [
524
+ 1.650749683380127,
525
+ 0.554777979850769,
526
+ 0.868776798248291
527
+ ]
528
+ ],
529
+ "center": {
530
+ "x": 1.795469045639038,
531
+ "y": 0.5746538639068604,
532
+ "z": 1.109070062637329
533
+ },
534
+ "size": {
535
+ "x": 0.28943872451782227,
536
+ "y": 0.03975176811218262,
537
+ "z": 0.48058652877807617
538
+ }
539
+ },
540
+ "objectOrientedBoundingBox": {
541
+ "cornerPoints": [
542
+ [
543
+ 1.650750756263733,
544
+ 0.554777979850769,
545
+ 1.3493634462356567
546
+ ],
547
+ [
548
+ 1.650749683380127,
549
+ 0.554778516292572,
550
+ 0.8687773942947388
551
+ ],
552
+ [
553
+ 1.9401873350143433,
554
+ 0.5547787547111511,
555
+ 0.8687766790390015
556
+ ],
557
+ [
558
+ 1.9401884078979492,
559
+ 0.5547782182693481,
560
+ 1.3493627309799194
561
+ ],
562
+ [
563
+ 1.650750756263733,
564
+ 0.5945289731025696,
565
+ 1.3493634462356567
566
+ ],
567
+ [
568
+ 1.650749683380127,
569
+ 0.5945295095443726,
570
+ 0.8687773942947388
571
+ ],
572
+ [
573
+ 1.9401872158050537,
574
+ 0.5945297479629517,
575
+ 0.8687767386436462
576
+ ],
577
+ [
578
+ 1.9401884078979492,
579
+ 0.5945292115211487,
580
+ 1.349362850189209
581
+ ]
582
+ ]
583
+ }
584
+ }
585
+ },
586
+ {
587
+ "objectId": "Dresser|2|1",
588
+ "object_info": {
589
+ "name": "Dresser|2|1",
590
+ "position": {
591
+ "x": 6.165773391723633,
592
+ "y": 0.0015782415866851807,
593
+ "z": 0.20938833057880402
594
+ },
595
+ "rotation": {
596
+ "x": -0.0,
597
+ "y": 0.0,
598
+ "z": 0.0
599
+ },
600
+ "visible": false,
601
+ "isInteractable": false,
602
+ "receptacle": true,
603
+ "toggleable": false,
604
+ "isToggled": false,
605
+ "breakable": false,
606
+ "isBroken": false,
607
+ "canFillWithLiquid": false,
608
+ "isFilledWithLiquid": false,
609
+ "fillLiquid": null,
610
+ "dirtyable": false,
611
+ "isDirty": false,
612
+ "canBeUsedUp": false,
613
+ "isUsedUp": false,
614
+ "cookable": false,
615
+ "isCooked": false,
616
+ "temperature": "RoomTemp",
617
+ "isHeatSource": false,
618
+ "isColdSource": false,
619
+ "sliceable": false,
620
+ "isSliced": false,
621
+ "openable": false,
622
+ "isOpen": false,
623
+ "openness": 0.0,
624
+ "pickupable": false,
625
+ "isPickedUp": false,
626
+ "moveable": true,
627
+ "mass": 57.0,
628
+ "salientMaterials": [
629
+ "Wood"
630
+ ],
631
+ "receptacleObjectIds": [
632
+ "Vase|surface|2|22",
633
+ "AlarmClock|surface|2|26",
634
+ "Pen|surface|2|23",
635
+ "Statue|surface|2|28"
636
+ ],
637
+ "distance": 2.131072759628296,
638
+ "objectType": "Dresser",
639
+ "objectId": "Dresser|2|1",
640
+ "assetId": "Dresser_209_1",
641
+ "parentReceptacles": [
642
+ "Floor"
643
+ ],
644
+ "controlledObjects": null,
645
+ "isMoving": false,
646
+ "axisAlignedBoundingBox": {
647
+ "cornerPoints": [
648
+ [
649
+ 7.313997745513916,
650
+ 0.6974331140518188,
651
+ 0.40591591596603394
652
+ ],
653
+ [
654
+ 7.313997745513916,
655
+ 0.6974331140518188,
656
+ 0.024997547268867493
657
+ ],
658
+ [
659
+ 7.313997745513916,
660
+ 1.7285346984863281e-06,
661
+ 0.40591591596603394
662
+ ],
663
+ [
664
+ 7.313997745513916,
665
+ 1.7285346984863281e-06,
666
+ 0.024997547268867493
667
+ ],
668
+ [
669
+ 5.026513576507568,
670
+ 0.6974331140518188,
671
+ 0.40591591596603394
672
+ ],
673
+ [
674
+ 5.026513576507568,
675
+ 0.6974331140518188,
676
+ 0.024997547268867493
677
+ ],
678
+ [
679
+ 5.026513576507568,
680
+ 1.7285346984863281e-06,
681
+ 0.40591591596603394
682
+ ],
683
+ [
684
+ 5.026513576507568,
685
+ 1.7285346984863281e-06,
686
+ 0.024997547268867493
687
+ ]
688
+ ],
689
+ "center": {
690
+ "x": 6.170255661010742,
691
+ "y": 0.34871742129325867,
692
+ "z": 0.2154567390680313
693
+ },
694
+ "size": {
695
+ "x": 2.2874841690063477,
696
+ "y": 0.6974313855171204,
697
+ "z": 0.38091838359832764
698
+ }
699
+ },
700
+ "objectOrientedBoundingBox": {
701
+ "cornerPoints": [
702
+ [
703
+ 7.313997268676758,
704
+ 1.9371509552001953e-06,
705
+ 0.4059157967567444
706
+ ],
707
+ [
708
+ 5.026514053344727,
709
+ 1.9371509552001953e-06,
710
+ 0.4059157967567444
711
+ ],
712
+ [
713
+ 5.026514053344727,
714
+ 1.9371509552001953e-06,
715
+ 0.02499757707118988
716
+ ],
717
+ [
718
+ 7.313997268676758,
719
+ 1.9371509552001953e-06,
720
+ 0.02499757707118988
721
+ ],
722
+ [
723
+ 7.313997268676758,
724
+ 0.6974328756332397,
725
+ 0.4059157967567444
726
+ ],
727
+ [
728
+ 5.026514053344727,
729
+ 0.6974328756332397,
730
+ 0.4059157967567444
731
+ ],
732
+ [
733
+ 5.026514053344727,
734
+ 0.6974328756332397,
735
+ 0.02499757707118988
736
+ ],
737
+ [
738
+ 7.313997268676758,
739
+ 0.6974328756332397,
740
+ 0.02499757707118988
741
+ ]
742
+ ]
743
+ }
744
+ }
745
+ },
746
+ {
747
+ "objectId": "Dresser|2|1___0",
748
+ "object_info": {
749
+ "name": "Drawer",
750
+ "position": {
751
+ "x": 5.649626731872559,
752
+ "y": 0.16780176758766174,
753
+ "z": 0.27938833832740784
754
+ },
755
+ "rotation": {
756
+ "x": -0.0,
757
+ "y": 0.0,
758
+ "z": 0.0
759
+ },
760
+ "visible": false,
761
+ "isInteractable": false,
762
+ "receptacle": true,
763
+ "toggleable": false,
764
+ "isToggled": false,
765
+ "breakable": false,
766
+ "isBroken": false,
767
+ "canFillWithLiquid": false,
768
+ "isFilledWithLiquid": false,
769
+ "fillLiquid": null,
770
+ "dirtyable": false,
771
+ "isDirty": false,
772
+ "canBeUsedUp": false,
773
+ "isUsedUp": false,
774
+ "cookable": false,
775
+ "isCooked": false,
776
+ "temperature": "RoomTemp",
777
+ "isHeatSource": false,
778
+ "isColdSource": false,
779
+ "sliceable": false,
780
+ "isSliced": false,
781
+ "openable": true,
782
+ "isOpen": false,
783
+ "openness": 0.0,
784
+ "pickupable": false,
785
+ "isPickedUp": false,
786
+ "moveable": false,
787
+ "mass": 0.0,
788
+ "salientMaterials": null,
789
+ "receptacleObjectIds": [
790
+ "Pen|surface|2|25",
791
+ "Pen|surface|2|24"
792
+ ],
793
+ "distance": 1.7670011520385742,
794
+ "objectType": "Drawer",
795
+ "objectId": "Dresser|2|1___0",
796
+ "assetId": "",
797
+ "parentReceptacles": [
798
+ "Floor"
799
+ ],
800
+ "controlledObjects": null,
801
+ "isMoving": false,
802
+ "axisAlignedBoundingBox": {
803
+ "cornerPoints": [
804
+ [
805
+ 6.16652250289917,
806
+ 0.3403380513191223,
807
+ 0.40831050276756287
808
+ ],
809
+ [
810
+ 6.16652250289917,
811
+ 0.3403380513191223,
812
+ 0.14765623211860657
813
+ ],
814
+ [
815
+ 6.16652250289917,
816
+ 0.03385818004608154,
817
+ 0.40831050276756287
818
+ ],
819
+ [
820
+ 6.16652250289917,
821
+ 0.03385818004608154,
822
+ 0.14765623211860657
823
+ ],
824
+ [
825
+ 5.132730960845947,
826
+ 0.3403380513191223,
827
+ 0.40831050276756287
828
+ ],
829
+ [
830
+ 5.132730960845947,
831
+ 0.3403380513191223,
832
+ 0.14765623211860657
833
+ ],
834
+ [
835
+ 5.132730960845947,
836
+ 0.03385818004608154,
837
+ 0.40831050276756287
838
+ ],
839
+ [
840
+ 5.132730960845947,
841
+ 0.03385818004608154,
842
+ 0.14765623211860657
843
+ ]
844
+ ],
845
+ "center": {
846
+ "x": 5.649626731872559,
847
+ "y": 0.18709811568260193,
848
+ "z": 0.2779833674430847
849
+ },
850
+ "size": {
851
+ "x": 1.0337915420532227,
852
+ "y": 0.30647987127304077,
853
+ "z": 0.2606542706489563
854
+ }
855
+ },
856
+ "objectOrientedBoundingBox": null
857
+ }
858
+ }
859
+ ],
860
+ "Agent": {
861
+ "agent_position": {
862
+ "x": 4.900000095367432,
863
+ "y": 0.9009997844696045,
864
+ "z": 1.7999999523162842
865
+ },
866
+ "agent_rotation": {
867
+ "x": -0.0,
868
+ "y": 270.0,
869
+ "z": 0.0
870
+ },
871
+ "agent_cameraHorizon": 60.00001525878906,
872
+ "agent_isStanding": true,
873
+ "agent_inHighFrictionArea": false
874
+ },
875
+ "camera_info": {
876
+ "cameraPosition": {
877
+ "x": 4.900000095367432,
878
+ "y": 1.5759997367858887,
879
+ "z": 1.7999999523162842
880
+ },
881
+ "cameraOrthSize": -1.0,
882
+ "fov": 90.0
883
+ },
884
+ "common_object": [
885
+ "ArmChair|2|2|0",
886
+ "door|2|6"
887
+ ],
888
+ "different_object": [
889
+ "Dresser|2|1",
890
+ "Bed|2|0|0",
891
+ "Dresser|2|1___0",
892
+ "Laptop|surface|2|27"
893
+ ]
894
+ }
train/train1266/0/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8de9740ee3a324d20ceab2b2f9257ebb97df05dfe635c8cf2ee36a9ecf2ba0dc
3
+ size 3145856
train/train1266/0/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a50100f3d7838649d92ff68534d0a85ac81f9f249cef1f2b52bef1c82adbc670
3
+ size 2359424
train/train1266/0/1.json ADDED
@@ -0,0 +1,566 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "door|2|6",
5
+ "object_info": {
6
+ "name": "door|2|6",
7
+ "position": {
8
+ "x": 4.960543155670166,
9
+ "y": -0.0005983114242553711,
10
+ "z": 3.6700501441955566
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": false,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": true,
39
+ "isOpen": true,
40
+ "openness": 1.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": null,
47
+ "distance": 2.1215627193450928,
48
+ "objectType": "Doorway",
49
+ "objectId": "door|2|6",
50
+ "assetId": "Doorway_8",
51
+ "parentReceptacles": [
52
+ "Floor"
53
+ ],
54
+ "controlledObjects": null,
55
+ "isMoving": false,
56
+ "axisAlignedBoundingBox": {
57
+ "cornerPoints": [
58
+ [
59
+ 4.9760847091674805,
60
+ 2.0993974208831787,
61
+ 3.739671468734741
62
+ ],
63
+ [
64
+ 4.9760847091674805,
65
+ 2.0993974208831787,
66
+ 2.7530148029327393
67
+ ],
68
+ [
69
+ 4.9760847091674805,
70
+ 0.0,
71
+ 3.739671468734741
72
+ ],
73
+ [
74
+ 4.9760847091674805,
75
+ 0.0,
76
+ 2.7530148029327393
77
+ ],
78
+ [
79
+ 3.9121217727661133,
80
+ 2.0993974208831787,
81
+ 3.739671468734741
82
+ ],
83
+ [
84
+ 3.9121217727661133,
85
+ 2.0993974208831787,
86
+ 2.7530148029327393
87
+ ],
88
+ [
89
+ 3.9121217727661133,
90
+ 0.0,
91
+ 3.739671468734741
92
+ ],
93
+ [
94
+ 3.9121217727661133,
95
+ 0.0,
96
+ 2.7530148029327393
97
+ ]
98
+ ],
99
+ "center": {
100
+ "x": 4.444103240966797,
101
+ "y": 1.0496987104415894,
102
+ "z": 3.2463431358337402
103
+ },
104
+ "size": {
105
+ "x": 1.0639629364013672,
106
+ "y": 2.0993974208831787,
107
+ "z": 0.986656665802002
108
+ }
109
+ },
110
+ "objectOrientedBoundingBox": null
111
+ }
112
+ },
113
+ {
114
+ "objectId": "ArmChair|2|2|0",
115
+ "object_info": {
116
+ "name": "ArmChair|2|2|0",
117
+ "position": {
118
+ "x": 1.433853030204773,
119
+ "y": -5.155801773071289e-06,
120
+ "z": 3.2342398166656494
121
+ },
122
+ "rotation": {
123
+ "x": 0.0,
124
+ "y": 180.0,
125
+ "z": 0.0
126
+ },
127
+ "visible": false,
128
+ "isInteractable": false,
129
+ "receptacle": true,
130
+ "toggleable": false,
131
+ "isToggled": false,
132
+ "breakable": false,
133
+ "isBroken": false,
134
+ "canFillWithLiquid": false,
135
+ "isFilledWithLiquid": false,
136
+ "fillLiquid": null,
137
+ "dirtyable": false,
138
+ "isDirty": false,
139
+ "canBeUsedUp": false,
140
+ "isUsedUp": false,
141
+ "cookable": false,
142
+ "isCooked": false,
143
+ "temperature": "RoomTemp",
144
+ "isHeatSource": false,
145
+ "isColdSource": false,
146
+ "sliceable": false,
147
+ "isSliced": false,
148
+ "openable": false,
149
+ "isOpen": false,
150
+ "openness": 0.0,
151
+ "pickupable": false,
152
+ "isPickedUp": false,
153
+ "moveable": true,
154
+ "mass": 28.299999237060547,
155
+ "salientMaterials": [
156
+ "Fabric"
157
+ ],
158
+ "receptacleObjectIds": [],
159
+ "distance": 3.966381311416626,
160
+ "objectType": "ArmChair",
161
+ "objectId": "ArmChair|2|2|0",
162
+ "assetId": "RoboTHOR_armchair_ektorp",
163
+ "parentReceptacles": [
164
+ "Floor"
165
+ ],
166
+ "controlledObjects": null,
167
+ "isMoving": false,
168
+ "axisAlignedBoundingBox": {
169
+ "cornerPoints": [
170
+ [
171
+ 1.917144775390625,
172
+ 0.8387728929519653,
173
+ 3.645007610321045
174
+ ],
175
+ [
176
+ 1.917144775390625,
177
+ 0.8387728929519653,
178
+ 2.793361186981201
179
+ ],
180
+ [
181
+ 1.917144775390625,
182
+ -5.364418029785156e-06,
183
+ 3.645007610321045
184
+ ],
185
+ [
186
+ 1.917144775390625,
187
+ -5.364418029785156e-06,
188
+ 2.793361186981201
189
+ ],
190
+ [
191
+ 0.9460439682006836,
192
+ 0.8387728929519653,
193
+ 3.645007610321045
194
+ ],
195
+ [
196
+ 0.9460439682006836,
197
+ 0.8387728929519653,
198
+ 2.793361186981201
199
+ ],
200
+ [
201
+ 0.9460439682006836,
202
+ -5.364418029785156e-06,
203
+ 3.645007610321045
204
+ ],
205
+ [
206
+ 0.9460439682006836,
207
+ -5.364418029785156e-06,
208
+ 2.793361186981201
209
+ ]
210
+ ],
211
+ "center": {
212
+ "x": 1.4315943717956543,
213
+ "y": 0.4193837642669678,
214
+ "z": 3.219184398651123
215
+ },
216
+ "size": {
217
+ "x": 0.9711008071899414,
218
+ "y": 0.8387782573699951,
219
+ "z": 0.8516464233398438
220
+ }
221
+ },
222
+ "objectOrientedBoundingBox": {
223
+ "cornerPoints": [
224
+ [
225
+ 0.9460440874099731,
226
+ -5.155801773071289e-06,
227
+ 2.7933616638183594
228
+ ],
229
+ [
230
+ 1.917144775390625,
231
+ -5.155801773071289e-06,
232
+ 2.7933616638183594
233
+ ],
234
+ [
235
+ 1.917144775390625,
236
+ -5.155801773071289e-06,
237
+ 3.645007371902466
238
+ ],
239
+ [
240
+ 0.9460440874099731,
241
+ -5.155801773071289e-06,
242
+ 3.645007371902466
243
+ ],
244
+ [
245
+ 0.9460440874099731,
246
+ 0.8387726545333862,
247
+ 2.7933616638183594
248
+ ],
249
+ [
250
+ 1.917144775390625,
251
+ 0.8387726545333862,
252
+ 2.7933616638183594
253
+ ],
254
+ [
255
+ 1.917144775390625,
256
+ 0.8387726545333862,
257
+ 3.645007371902466
258
+ ],
259
+ [
260
+ 0.9460440874099731,
261
+ 0.8387726545333862,
262
+ 3.645007371902466
263
+ ]
264
+ ]
265
+ }
266
+ }
267
+ },
268
+ {
269
+ "objectId": "ArmChair|2|3|0",
270
+ "object_info": {
271
+ "name": "ArmChair|2|3|0",
272
+ "position": {
273
+ "x": 7.98681640625,
274
+ "y": 0.002482771873474121,
275
+ "z": 3.321834087371826
276
+ },
277
+ "rotation": {
278
+ "x": 0.0,
279
+ "y": 180.0,
280
+ "z": 0.0
281
+ },
282
+ "visible": false,
283
+ "isInteractable": false,
284
+ "receptacle": true,
285
+ "toggleable": false,
286
+ "isToggled": false,
287
+ "breakable": false,
288
+ "isBroken": false,
289
+ "canFillWithLiquid": false,
290
+ "isFilledWithLiquid": false,
291
+ "fillLiquid": null,
292
+ "dirtyable": false,
293
+ "isDirty": false,
294
+ "canBeUsedUp": false,
295
+ "isUsedUp": false,
296
+ "cookable": false,
297
+ "isCooked": false,
298
+ "temperature": "RoomTemp",
299
+ "isHeatSource": false,
300
+ "isColdSource": false,
301
+ "sliceable": false,
302
+ "isSliced": false,
303
+ "openable": false,
304
+ "isOpen": false,
305
+ "openness": 0.0,
306
+ "pickupable": false,
307
+ "isPickedUp": false,
308
+ "moveable": true,
309
+ "mass": 28.299999237060547,
310
+ "salientMaterials": [
311
+ "Fabric"
312
+ ],
313
+ "receptacleObjectIds": [],
314
+ "distance": 3.4927163124084473,
315
+ "objectType": "ArmChair",
316
+ "objectId": "ArmChair|2|3|0",
317
+ "assetId": "RoboTHOR_armchair_tullsta",
318
+ "parentReceptacles": [
319
+ "Floor"
320
+ ],
321
+ "controlledObjects": null,
322
+ "isMoving": false,
323
+ "axisAlignedBoundingBox": {
324
+ "cornerPoints": [
325
+ [
326
+ 8.329514503479004,
327
+ 0.6466569900512695,
328
+ 3.6386990547180176
329
+ ],
330
+ [
331
+ 8.329514503479004,
332
+ 0.6466569900512695,
333
+ 3.021869659423828
334
+ ],
335
+ [
336
+ 8.329514503479004,
337
+ -1.4454126358032227e-05,
338
+ 3.6386990547180176
339
+ ],
340
+ [
341
+ 8.329514503479004,
342
+ -1.4454126358032227e-05,
343
+ 3.021869659423828
344
+ ],
345
+ [
346
+ 7.6490936279296875,
347
+ 0.6466569900512695,
348
+ 3.6386990547180176
349
+ ],
350
+ [
351
+ 7.6490936279296875,
352
+ 0.6466569900512695,
353
+ 3.021869659423828
354
+ ],
355
+ [
356
+ 7.6490936279296875,
357
+ -1.4454126358032227e-05,
358
+ 3.6386990547180176
359
+ ],
360
+ [
361
+ 7.6490936279296875,
362
+ -1.4454126358032227e-05,
363
+ 3.021869659423828
364
+ ]
365
+ ],
366
+ "center": {
367
+ "x": 7.989304065704346,
368
+ "y": 0.32332125306129456,
369
+ "z": 3.330284357070923
370
+ },
371
+ "size": {
372
+ "x": 0.6804208755493164,
373
+ "y": 0.6466714143753052,
374
+ "z": 0.6168293952941895
375
+ }
376
+ },
377
+ "objectOrientedBoundingBox": {
378
+ "cornerPoints": [
379
+ [
380
+ 7.6490936279296875,
381
+ -1.4394521713256836e-05,
382
+ 3.021869659423828
383
+ ],
384
+ [
385
+ 8.329514503479004,
386
+ -1.4394521713256836e-05,
387
+ 3.021869659423828
388
+ ],
389
+ [
390
+ 8.329514503479004,
391
+ -1.4394521713256836e-05,
392
+ 3.6386990547180176
393
+ ],
394
+ [
395
+ 7.6490936279296875,
396
+ -1.4394521713256836e-05,
397
+ 3.6386990547180176
398
+ ],
399
+ [
400
+ 7.6490936279296875,
401
+ 0.6466567516326904,
402
+ 3.021869659423828
403
+ ],
404
+ [
405
+ 8.329514503479004,
406
+ 0.6466567516326904,
407
+ 3.021869659423828
408
+ ],
409
+ [
410
+ 8.329514503479004,
411
+ 0.6466567516326904,
412
+ 3.6386990547180176
413
+ ],
414
+ [
415
+ 7.6490936279296875,
416
+ 0.6466567516326904,
417
+ 3.6386990547180176
418
+ ]
419
+ ]
420
+ }
421
+ }
422
+ },
423
+ {
424
+ "objectId": "door|6|7",
425
+ "object_info": {
426
+ "name": "door|6|7",
427
+ "position": {
428
+ "x": 3.669950008392334,
429
+ "y": -0.0005983114242553711,
430
+ "z": 6.7994818687438965
431
+ },
432
+ "rotation": {
433
+ "x": -0.0,
434
+ "y": 270.0,
435
+ "z": 0.0
436
+ },
437
+ "visible": false,
438
+ "isInteractable": false,
439
+ "receptacle": false,
440
+ "toggleable": false,
441
+ "isToggled": false,
442
+ "breakable": false,
443
+ "isBroken": false,
444
+ "canFillWithLiquid": false,
445
+ "isFilledWithLiquid": false,
446
+ "fillLiquid": null,
447
+ "dirtyable": false,
448
+ "isDirty": false,
449
+ "canBeUsedUp": false,
450
+ "isUsedUp": false,
451
+ "cookable": false,
452
+ "isCooked": false,
453
+ "temperature": "RoomTemp",
454
+ "isHeatSource": false,
455
+ "isColdSource": false,
456
+ "sliceable": false,
457
+ "isSliced": false,
458
+ "openable": true,
459
+ "isOpen": true,
460
+ "openness": 1.0,
461
+ "pickupable": false,
462
+ "isPickedUp": false,
463
+ "moveable": false,
464
+ "mass": 0.0,
465
+ "salientMaterials": null,
466
+ "receptacleObjectIds": null,
467
+ "distance": 5.29897928237915,
468
+ "objectType": "Doorway",
469
+ "objectId": "door|6|7",
470
+ "assetId": "Doorway_8",
471
+ "parentReceptacles": [
472
+ "Floor"
473
+ ],
474
+ "controlledObjects": null,
475
+ "isMoving": false,
476
+ "axisAlignedBoundingBox": {
477
+ "cornerPoints": [
478
+ [
479
+ 4.586986064910889,
480
+ 2.099397897720337,
481
+ 6.815023422241211
482
+ ],
483
+ [
484
+ 4.586986064910889,
485
+ 2.099397897720337,
486
+ 5.751060485839844
487
+ ],
488
+ [
489
+ 4.586986064910889,
490
+ 0.0,
491
+ 6.815023422241211
492
+ ],
493
+ [
494
+ 4.586986064910889,
495
+ 0.0,
496
+ 5.751060485839844
497
+ ],
498
+ [
499
+ 3.6003289222717285,
500
+ 2.099397897720337,
501
+ 6.815023422241211
502
+ ],
503
+ [
504
+ 3.6003289222717285,
505
+ 2.099397897720337,
506
+ 5.751060485839844
507
+ ],
508
+ [
509
+ 3.6003289222717285,
510
+ 0.0,
511
+ 6.815023422241211
512
+ ],
513
+ [
514
+ 3.6003289222717285,
515
+ 0.0,
516
+ 5.751060485839844
517
+ ]
518
+ ],
519
+ "center": {
520
+ "x": 4.093657493591309,
521
+ "y": 1.0496989488601685,
522
+ "z": 6.283041954040527
523
+ },
524
+ "size": {
525
+ "x": 0.9866571426391602,
526
+ "y": 2.099397897720337,
527
+ "z": 1.0639629364013672
528
+ }
529
+ },
530
+ "objectOrientedBoundingBox": null
531
+ }
532
+ }
533
+ ],
534
+ "Agent": {
535
+ "agent_position": {
536
+ "x": 4.900000095367432,
537
+ "y": 0.9009997844696045,
538
+ "z": 1.7999999523162842
539
+ },
540
+ "agent_rotation": {
541
+ "x": -0.0,
542
+ "y": 0.0,
543
+ "z": 0.0
544
+ },
545
+ "agent_cameraHorizon": 60.00001525878906,
546
+ "agent_isStanding": true,
547
+ "agent_inHighFrictionArea": false
548
+ },
549
+ "camera_info": {
550
+ "cameraPosition": {
551
+ "x": 4.900000095367432,
552
+ "y": 1.5759997367858887,
553
+ "z": 1.7999999523162842
554
+ },
555
+ "cameraOrthSize": -1.0,
556
+ "fov": 90.0
557
+ },
558
+ "common_object": [
559
+ "ArmChair|2|2|0",
560
+ "door|2|6"
561
+ ],
562
+ "different_object": [
563
+ "door|6|7",
564
+ "ArmChair|2|3|0"
565
+ ]
566
+ }
train/train1266/0/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49c842e538c8a5b43341fe4d70d5374b9330566e96a7381c067f2b70ce9930d7
3
+ size 3145856
train/train1266/0/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfd65fc09b9c09815df08237e003e74af5946481a7fefb8d7732820e9a496247
3
+ size 2359424
train/train1266/0/depth_0.png ADDED
train/train1266/0/depth_1.png ADDED
train/train1266/0/mask_questions.jsonl ADDED
File without changes
train/train1266/0/rgb_0.png ADDED

Git LFS Details

  • SHA256: d6541c7d79126fd6dfe1a73ed35447822979301337b60b7255de16759a7d99b9
  • Pointer size: 131 Bytes
  • Size of remote file: 666 kB
train/train1266/0/rgb_1.png ADDED

Git LFS Details

  • SHA256: 81253e3008fb0fa50860fdf20c000df256fa091ee1697ffb194b2e94aba07a58
  • Pointer size: 131 Bytes
  • Size of remote file: 700 kB
train/train1266/0/semantic_0.png ADDED
train/train1266/0/semantic_1.png ADDED
train/train1266/1/0.json ADDED
@@ -0,0 +1,894 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "door|2|6",
5
+ "object_info": {
6
+ "name": "door|2|6",
7
+ "position": {
8
+ "x": 4.960543155670166,
9
+ "y": -0.0005983114242553711,
10
+ "z": 3.6700501441955566
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": false,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": true,
39
+ "isOpen": true,
40
+ "openness": 1.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": null,
47
+ "distance": 2.1215627193450928,
48
+ "objectType": "Doorway",
49
+ "objectId": "door|2|6",
50
+ "assetId": "Doorway_8",
51
+ "parentReceptacles": [
52
+ "Floor"
53
+ ],
54
+ "controlledObjects": null,
55
+ "isMoving": false,
56
+ "axisAlignedBoundingBox": {
57
+ "cornerPoints": [
58
+ [
59
+ 4.9760847091674805,
60
+ 2.0993974208831787,
61
+ 3.739671468734741
62
+ ],
63
+ [
64
+ 4.9760847091674805,
65
+ 2.0993974208831787,
66
+ 2.7530148029327393
67
+ ],
68
+ [
69
+ 4.9760847091674805,
70
+ 0.0,
71
+ 3.739671468734741
72
+ ],
73
+ [
74
+ 4.9760847091674805,
75
+ 0.0,
76
+ 2.7530148029327393
77
+ ],
78
+ [
79
+ 3.9121217727661133,
80
+ 2.0993974208831787,
81
+ 3.739671468734741
82
+ ],
83
+ [
84
+ 3.9121217727661133,
85
+ 2.0993974208831787,
86
+ 2.7530148029327393
87
+ ],
88
+ [
89
+ 3.9121217727661133,
90
+ 0.0,
91
+ 3.739671468734741
92
+ ],
93
+ [
94
+ 3.9121217727661133,
95
+ 0.0,
96
+ 2.7530148029327393
97
+ ]
98
+ ],
99
+ "center": {
100
+ "x": 4.444103240966797,
101
+ "y": 1.0496987104415894,
102
+ "z": 3.2463431358337402
103
+ },
104
+ "size": {
105
+ "x": 1.0639629364013672,
106
+ "y": 2.0993974208831787,
107
+ "z": 0.986656665802002
108
+ }
109
+ },
110
+ "objectOrientedBoundingBox": null
111
+ }
112
+ },
113
+ {
114
+ "objectId": "Bed|2|0|0",
115
+ "object_info": {
116
+ "name": "Bed|2|0|0",
117
+ "position": {
118
+ "x": 1.0386500358581543,
119
+ "y": -0.0012215971946716309,
120
+ "z": 0.7582886815071106
121
+ },
122
+ "rotation": {
123
+ "x": -0.0,
124
+ "y": 90.0,
125
+ "z": -0.0
126
+ },
127
+ "visible": false,
128
+ "isInteractable": false,
129
+ "receptacle": true,
130
+ "toggleable": false,
131
+ "isToggled": false,
132
+ "breakable": false,
133
+ "isBroken": false,
134
+ "canFillWithLiquid": false,
135
+ "isFilledWithLiquid": false,
136
+ "fillLiquid": null,
137
+ "dirtyable": true,
138
+ "isDirty": true,
139
+ "canBeUsedUp": false,
140
+ "isUsedUp": false,
141
+ "cookable": false,
142
+ "isCooked": false,
143
+ "temperature": "RoomTemp",
144
+ "isHeatSource": false,
145
+ "isColdSource": false,
146
+ "sliceable": false,
147
+ "isSliced": false,
148
+ "openable": false,
149
+ "isOpen": false,
150
+ "openness": 0.0,
151
+ "pickupable": false,
152
+ "isPickedUp": false,
153
+ "moveable": true,
154
+ "mass": 29.999998092651367,
155
+ "salientMaterials": [
156
+ "Wood",
157
+ "Fabric"
158
+ ],
159
+ "receptacleObjectIds": [
160
+ "Laptop|surface|2|27",
161
+ "Pillow|2|0|1",
162
+ "Pillow|2|0|2"
163
+ ],
164
+ "distance": 4.182079315185547,
165
+ "objectType": "Bed",
166
+ "objectId": "Bed|2|0|0",
167
+ "assetId": "Bed_1",
168
+ "parentReceptacles": [
169
+ "Floor"
170
+ ],
171
+ "controlledObjects": null,
172
+ "isMoving": false,
173
+ "axisAlignedBoundingBox": {
174
+ "cornerPoints": [
175
+ [
176
+ 2.0997321605682373,
177
+ 0.9101964235305786,
178
+ 1.4917998313903809
179
+ ],
180
+ [
181
+ 2.0997321605682373,
182
+ 0.9101964235305786,
183
+ 0.024999797344207764
184
+ ],
185
+ [
186
+ 2.0997321605682373,
187
+ 0.0,
188
+ 1.4917998313903809
189
+ ],
190
+ [
191
+ 2.0997321605682373,
192
+ 0.0,
193
+ 0.024999797344207764
194
+ ],
195
+ [
196
+ 0.024999618530273438,
197
+ 0.9101964235305786,
198
+ 1.4917998313903809
199
+ ],
200
+ [
201
+ 0.024999618530273438,
202
+ 0.9101964235305786,
203
+ 0.024999797344207764
204
+ ],
205
+ [
206
+ 0.024999618530273438,
207
+ 0.0,
208
+ 1.4917998313903809
209
+ ],
210
+ [
211
+ 0.024999618530273438,
212
+ 0.0,
213
+ 0.024999797344207764
214
+ ]
215
+ ],
216
+ "center": {
217
+ "x": 1.0623658895492554,
218
+ "y": 0.4550982117652893,
219
+ "z": 0.7583997845649719
220
+ },
221
+ "size": {
222
+ "x": 2.074732542037964,
223
+ "y": 0.9101964235305786,
224
+ "z": 1.4667999744415283
225
+ }
226
+ },
227
+ "objectOrientedBoundingBox": {
228
+ "cornerPoints": [
229
+ [
230
+ 2.0997323989868164,
231
+ 0.0,
232
+ 0.024999797344207764
233
+ ],
234
+ [
235
+ 2.0997323989868164,
236
+ 0.0,
237
+ 1.4917998313903809
238
+ ],
239
+ [
240
+ 0.02499985694885254,
241
+ 0.0,
242
+ 1.49180006980896
243
+ ],
244
+ [
245
+ 0.02499985694885254,
246
+ 0.0,
247
+ 0.025000035762786865
248
+ ],
249
+ [
250
+ 2.0997323989868164,
251
+ 0.9101961851119995,
252
+ 0.024999797344207764
253
+ ],
254
+ [
255
+ 2.0997323989868164,
256
+ 0.9101961851119995,
257
+ 1.4917998313903809
258
+ ],
259
+ [
260
+ 0.02499985694885254,
261
+ 0.9101961851119995,
262
+ 1.49180006980896
263
+ ],
264
+ [
265
+ 0.02499985694885254,
266
+ 0.9101961851119995,
267
+ 0.025000035762786865
268
+ ]
269
+ ]
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "objectId": "ArmChair|2|2|0",
275
+ "object_info": {
276
+ "name": "ArmChair|2|2|0",
277
+ "position": {
278
+ "x": 1.433853030204773,
279
+ "y": -5.155801773071289e-06,
280
+ "z": 3.2342398166656494
281
+ },
282
+ "rotation": {
283
+ "x": 0.0,
284
+ "y": 180.0,
285
+ "z": 0.0
286
+ },
287
+ "visible": false,
288
+ "isInteractable": false,
289
+ "receptacle": true,
290
+ "toggleable": false,
291
+ "isToggled": false,
292
+ "breakable": false,
293
+ "isBroken": false,
294
+ "canFillWithLiquid": false,
295
+ "isFilledWithLiquid": false,
296
+ "fillLiquid": null,
297
+ "dirtyable": false,
298
+ "isDirty": false,
299
+ "canBeUsedUp": false,
300
+ "isUsedUp": false,
301
+ "cookable": false,
302
+ "isCooked": false,
303
+ "temperature": "RoomTemp",
304
+ "isHeatSource": false,
305
+ "isColdSource": false,
306
+ "sliceable": false,
307
+ "isSliced": false,
308
+ "openable": false,
309
+ "isOpen": false,
310
+ "openness": 0.0,
311
+ "pickupable": false,
312
+ "isPickedUp": false,
313
+ "moveable": true,
314
+ "mass": 28.299999237060547,
315
+ "salientMaterials": [
316
+ "Fabric"
317
+ ],
318
+ "receptacleObjectIds": [],
319
+ "distance": 3.966381311416626,
320
+ "objectType": "ArmChair",
321
+ "objectId": "ArmChair|2|2|0",
322
+ "assetId": "RoboTHOR_armchair_ektorp",
323
+ "parentReceptacles": [
324
+ "Floor"
325
+ ],
326
+ "controlledObjects": null,
327
+ "isMoving": false,
328
+ "axisAlignedBoundingBox": {
329
+ "cornerPoints": [
330
+ [
331
+ 1.917144775390625,
332
+ 0.8387728929519653,
333
+ 3.645007610321045
334
+ ],
335
+ [
336
+ 1.917144775390625,
337
+ 0.8387728929519653,
338
+ 2.793361186981201
339
+ ],
340
+ [
341
+ 1.917144775390625,
342
+ -5.364418029785156e-06,
343
+ 3.645007610321045
344
+ ],
345
+ [
346
+ 1.917144775390625,
347
+ -5.364418029785156e-06,
348
+ 2.793361186981201
349
+ ],
350
+ [
351
+ 0.9460439682006836,
352
+ 0.8387728929519653,
353
+ 3.645007610321045
354
+ ],
355
+ [
356
+ 0.9460439682006836,
357
+ 0.8387728929519653,
358
+ 2.793361186981201
359
+ ],
360
+ [
361
+ 0.9460439682006836,
362
+ -5.364418029785156e-06,
363
+ 3.645007610321045
364
+ ],
365
+ [
366
+ 0.9460439682006836,
367
+ -5.364418029785156e-06,
368
+ 2.793361186981201
369
+ ]
370
+ ],
371
+ "center": {
372
+ "x": 1.4315943717956543,
373
+ "y": 0.4193837642669678,
374
+ "z": 3.219184398651123
375
+ },
376
+ "size": {
377
+ "x": 0.9711008071899414,
378
+ "y": 0.8387782573699951,
379
+ "z": 0.8516464233398438
380
+ }
381
+ },
382
+ "objectOrientedBoundingBox": {
383
+ "cornerPoints": [
384
+ [
385
+ 0.9460440874099731,
386
+ -5.155801773071289e-06,
387
+ 2.7933616638183594
388
+ ],
389
+ [
390
+ 1.917144775390625,
391
+ -5.155801773071289e-06,
392
+ 2.7933616638183594
393
+ ],
394
+ [
395
+ 1.917144775390625,
396
+ -5.155801773071289e-06,
397
+ 3.645007371902466
398
+ ],
399
+ [
400
+ 0.9460440874099731,
401
+ -5.155801773071289e-06,
402
+ 3.645007371902466
403
+ ],
404
+ [
405
+ 0.9460440874099731,
406
+ 0.8387726545333862,
407
+ 2.7933616638183594
408
+ ],
409
+ [
410
+ 1.917144775390625,
411
+ 0.8387726545333862,
412
+ 2.7933616638183594
413
+ ],
414
+ [
415
+ 1.917144775390625,
416
+ 0.8387726545333862,
417
+ 3.645007371902466
418
+ ],
419
+ [
420
+ 0.9460440874099731,
421
+ 0.8387726545333862,
422
+ 3.645007371902466
423
+ ]
424
+ ]
425
+ }
426
+ }
427
+ },
428
+ {
429
+ "objectId": "Laptop|surface|2|27",
430
+ "object_info": {
431
+ "name": "Laptop|surface|2|27",
432
+ "position": {
433
+ "x": 1.795939564704895,
434
+ "y": 0.5547783970832825,
435
+ "z": 1.109070062637329
436
+ },
437
+ "rotation": {
438
+ "x": 4.702925434685312e-05,
439
+ "y": 270.0001220703125,
440
+ "z": -6.529131496790797e-05
441
+ },
442
+ "visible": false,
443
+ "isInteractable": false,
444
+ "receptacle": false,
445
+ "toggleable": true,
446
+ "isToggled": false,
447
+ "breakable": true,
448
+ "isBroken": false,
449
+ "canFillWithLiquid": false,
450
+ "isFilledWithLiquid": false,
451
+ "fillLiquid": null,
452
+ "dirtyable": false,
453
+ "isDirty": false,
454
+ "canBeUsedUp": false,
455
+ "isUsedUp": false,
456
+ "cookable": false,
457
+ "isCooked": false,
458
+ "temperature": "RoomTemp",
459
+ "isHeatSource": false,
460
+ "isColdSource": false,
461
+ "sliceable": false,
462
+ "isSliced": false,
463
+ "openable": true,
464
+ "isOpen": false,
465
+ "openness": 0.0,
466
+ "pickupable": true,
467
+ "isPickedUp": false,
468
+ "moveable": false,
469
+ "mass": 2.299999952316284,
470
+ "salientMaterials": [
471
+ "Metal",
472
+ "Plastic",
473
+ "Glass"
474
+ ],
475
+ "receptacleObjectIds": null,
476
+ "distance": 3.285827875137329,
477
+ "objectType": "Laptop",
478
+ "objectId": "Laptop|surface|2|27",
479
+ "assetId": "Laptop_14",
480
+ "parentReceptacles": [
481
+ "Bed|2|0|0",
482
+ "Floor"
483
+ ],
484
+ "controlledObjects": [],
485
+ "isMoving": false,
486
+ "axisAlignedBoundingBox": {
487
+ "cornerPoints": [
488
+ [
489
+ 1.9401884078979492,
490
+ 0.5945297479629517,
491
+ 1.3493633270263672
492
+ ],
493
+ [
494
+ 1.9401884078979492,
495
+ 0.5945297479629517,
496
+ 0.868776798248291
497
+ ],
498
+ [
499
+ 1.9401884078979492,
500
+ 0.554777979850769,
501
+ 1.3493633270263672
502
+ ],
503
+ [
504
+ 1.9401884078979492,
505
+ 0.554777979850769,
506
+ 0.868776798248291
507
+ ],
508
+ [
509
+ 1.650749683380127,
510
+ 0.5945297479629517,
511
+ 1.3493633270263672
512
+ ],
513
+ [
514
+ 1.650749683380127,
515
+ 0.5945297479629517,
516
+ 0.868776798248291
517
+ ],
518
+ [
519
+ 1.650749683380127,
520
+ 0.554777979850769,
521
+ 1.3493633270263672
522
+ ],
523
+ [
524
+ 1.650749683380127,
525
+ 0.554777979850769,
526
+ 0.868776798248291
527
+ ]
528
+ ],
529
+ "center": {
530
+ "x": 1.795469045639038,
531
+ "y": 0.5746538639068604,
532
+ "z": 1.109070062637329
533
+ },
534
+ "size": {
535
+ "x": 0.28943872451782227,
536
+ "y": 0.03975176811218262,
537
+ "z": 0.48058652877807617
538
+ }
539
+ },
540
+ "objectOrientedBoundingBox": {
541
+ "cornerPoints": [
542
+ [
543
+ 1.650750756263733,
544
+ 0.554777979850769,
545
+ 1.3493634462356567
546
+ ],
547
+ [
548
+ 1.650749683380127,
549
+ 0.554778516292572,
550
+ 0.8687773942947388
551
+ ],
552
+ [
553
+ 1.9401873350143433,
554
+ 0.5547787547111511,
555
+ 0.8687766790390015
556
+ ],
557
+ [
558
+ 1.9401884078979492,
559
+ 0.5547782182693481,
560
+ 1.3493627309799194
561
+ ],
562
+ [
563
+ 1.650750756263733,
564
+ 0.5945289731025696,
565
+ 1.3493634462356567
566
+ ],
567
+ [
568
+ 1.650749683380127,
569
+ 0.5945295095443726,
570
+ 0.8687773942947388
571
+ ],
572
+ [
573
+ 1.9401872158050537,
574
+ 0.5945297479629517,
575
+ 0.8687767386436462
576
+ ],
577
+ [
578
+ 1.9401884078979492,
579
+ 0.5945292115211487,
580
+ 1.349362850189209
581
+ ]
582
+ ]
583
+ }
584
+ }
585
+ },
586
+ {
587
+ "objectId": "Dresser|2|1",
588
+ "object_info": {
589
+ "name": "Dresser|2|1",
590
+ "position": {
591
+ "x": 6.165773391723633,
592
+ "y": 0.0015782415866851807,
593
+ "z": 0.20938833057880402
594
+ },
595
+ "rotation": {
596
+ "x": -0.0,
597
+ "y": 0.0,
598
+ "z": 0.0
599
+ },
600
+ "visible": false,
601
+ "isInteractable": false,
602
+ "receptacle": true,
603
+ "toggleable": false,
604
+ "isToggled": false,
605
+ "breakable": false,
606
+ "isBroken": false,
607
+ "canFillWithLiquid": false,
608
+ "isFilledWithLiquid": false,
609
+ "fillLiquid": null,
610
+ "dirtyable": false,
611
+ "isDirty": false,
612
+ "canBeUsedUp": false,
613
+ "isUsedUp": false,
614
+ "cookable": false,
615
+ "isCooked": false,
616
+ "temperature": "RoomTemp",
617
+ "isHeatSource": false,
618
+ "isColdSource": false,
619
+ "sliceable": false,
620
+ "isSliced": false,
621
+ "openable": false,
622
+ "isOpen": false,
623
+ "openness": 0.0,
624
+ "pickupable": false,
625
+ "isPickedUp": false,
626
+ "moveable": true,
627
+ "mass": 57.0,
628
+ "salientMaterials": [
629
+ "Wood"
630
+ ],
631
+ "receptacleObjectIds": [
632
+ "Vase|surface|2|22",
633
+ "AlarmClock|surface|2|26",
634
+ "Pen|surface|2|23",
635
+ "Statue|surface|2|28"
636
+ ],
637
+ "distance": 2.131072759628296,
638
+ "objectType": "Dresser",
639
+ "objectId": "Dresser|2|1",
640
+ "assetId": "Dresser_209_1",
641
+ "parentReceptacles": [
642
+ "Floor"
643
+ ],
644
+ "controlledObjects": null,
645
+ "isMoving": false,
646
+ "axisAlignedBoundingBox": {
647
+ "cornerPoints": [
648
+ [
649
+ 7.313997745513916,
650
+ 0.6974331140518188,
651
+ 0.40591591596603394
652
+ ],
653
+ [
654
+ 7.313997745513916,
655
+ 0.6974331140518188,
656
+ 0.024997547268867493
657
+ ],
658
+ [
659
+ 7.313997745513916,
660
+ 1.7285346984863281e-06,
661
+ 0.40591591596603394
662
+ ],
663
+ [
664
+ 7.313997745513916,
665
+ 1.7285346984863281e-06,
666
+ 0.024997547268867493
667
+ ],
668
+ [
669
+ 5.026513576507568,
670
+ 0.6974331140518188,
671
+ 0.40591591596603394
672
+ ],
673
+ [
674
+ 5.026513576507568,
675
+ 0.6974331140518188,
676
+ 0.024997547268867493
677
+ ],
678
+ [
679
+ 5.026513576507568,
680
+ 1.7285346984863281e-06,
681
+ 0.40591591596603394
682
+ ],
683
+ [
684
+ 5.026513576507568,
685
+ 1.7285346984863281e-06,
686
+ 0.024997547268867493
687
+ ]
688
+ ],
689
+ "center": {
690
+ "x": 6.170255661010742,
691
+ "y": 0.34871742129325867,
692
+ "z": 0.2154567390680313
693
+ },
694
+ "size": {
695
+ "x": 2.2874841690063477,
696
+ "y": 0.6974313855171204,
697
+ "z": 0.38091838359832764
698
+ }
699
+ },
700
+ "objectOrientedBoundingBox": {
701
+ "cornerPoints": [
702
+ [
703
+ 7.313997268676758,
704
+ 1.9371509552001953e-06,
705
+ 0.4059157967567444
706
+ ],
707
+ [
708
+ 5.026514053344727,
709
+ 1.9371509552001953e-06,
710
+ 0.4059157967567444
711
+ ],
712
+ [
713
+ 5.026514053344727,
714
+ 1.9371509552001953e-06,
715
+ 0.02499757707118988
716
+ ],
717
+ [
718
+ 7.313997268676758,
719
+ 1.9371509552001953e-06,
720
+ 0.02499757707118988
721
+ ],
722
+ [
723
+ 7.313997268676758,
724
+ 0.6974328756332397,
725
+ 0.4059157967567444
726
+ ],
727
+ [
728
+ 5.026514053344727,
729
+ 0.6974328756332397,
730
+ 0.4059157967567444
731
+ ],
732
+ [
733
+ 5.026514053344727,
734
+ 0.6974328756332397,
735
+ 0.02499757707118988
736
+ ],
737
+ [
738
+ 7.313997268676758,
739
+ 0.6974328756332397,
740
+ 0.02499757707118988
741
+ ]
742
+ ]
743
+ }
744
+ }
745
+ },
746
+ {
747
+ "objectId": "Dresser|2|1___0",
748
+ "object_info": {
749
+ "name": "Drawer",
750
+ "position": {
751
+ "x": 5.649626731872559,
752
+ "y": 0.16780176758766174,
753
+ "z": 0.27938833832740784
754
+ },
755
+ "rotation": {
756
+ "x": -0.0,
757
+ "y": 0.0,
758
+ "z": 0.0
759
+ },
760
+ "visible": false,
761
+ "isInteractable": false,
762
+ "receptacle": true,
763
+ "toggleable": false,
764
+ "isToggled": false,
765
+ "breakable": false,
766
+ "isBroken": false,
767
+ "canFillWithLiquid": false,
768
+ "isFilledWithLiquid": false,
769
+ "fillLiquid": null,
770
+ "dirtyable": false,
771
+ "isDirty": false,
772
+ "canBeUsedUp": false,
773
+ "isUsedUp": false,
774
+ "cookable": false,
775
+ "isCooked": false,
776
+ "temperature": "RoomTemp",
777
+ "isHeatSource": false,
778
+ "isColdSource": false,
779
+ "sliceable": false,
780
+ "isSliced": false,
781
+ "openable": true,
782
+ "isOpen": false,
783
+ "openness": 0.0,
784
+ "pickupable": false,
785
+ "isPickedUp": false,
786
+ "moveable": false,
787
+ "mass": 0.0,
788
+ "salientMaterials": null,
789
+ "receptacleObjectIds": [
790
+ "Pen|surface|2|25",
791
+ "Pen|surface|2|24"
792
+ ],
793
+ "distance": 1.7670011520385742,
794
+ "objectType": "Drawer",
795
+ "objectId": "Dresser|2|1___0",
796
+ "assetId": "",
797
+ "parentReceptacles": [
798
+ "Floor"
799
+ ],
800
+ "controlledObjects": null,
801
+ "isMoving": false,
802
+ "axisAlignedBoundingBox": {
803
+ "cornerPoints": [
804
+ [
805
+ 6.16652250289917,
806
+ 0.3403380513191223,
807
+ 0.40831050276756287
808
+ ],
809
+ [
810
+ 6.16652250289917,
811
+ 0.3403380513191223,
812
+ 0.14765623211860657
813
+ ],
814
+ [
815
+ 6.16652250289917,
816
+ 0.03385818004608154,
817
+ 0.40831050276756287
818
+ ],
819
+ [
820
+ 6.16652250289917,
821
+ 0.03385818004608154,
822
+ 0.14765623211860657
823
+ ],
824
+ [
825
+ 5.132730960845947,
826
+ 0.3403380513191223,
827
+ 0.40831050276756287
828
+ ],
829
+ [
830
+ 5.132730960845947,
831
+ 0.3403380513191223,
832
+ 0.14765623211860657
833
+ ],
834
+ [
835
+ 5.132730960845947,
836
+ 0.03385818004608154,
837
+ 0.40831050276756287
838
+ ],
839
+ [
840
+ 5.132730960845947,
841
+ 0.03385818004608154,
842
+ 0.14765623211860657
843
+ ]
844
+ ],
845
+ "center": {
846
+ "x": 5.649626731872559,
847
+ "y": 0.18709811568260193,
848
+ "z": 0.2779833674430847
849
+ },
850
+ "size": {
851
+ "x": 1.0337915420532227,
852
+ "y": 0.30647987127304077,
853
+ "z": 0.2606542706489563
854
+ }
855
+ },
856
+ "objectOrientedBoundingBox": null
857
+ }
858
+ }
859
+ ],
860
+ "Agent": {
861
+ "agent_position": {
862
+ "x": 4.900000095367432,
863
+ "y": 0.9009997844696045,
864
+ "z": 1.7999999523162842
865
+ },
866
+ "agent_rotation": {
867
+ "x": -0.0,
868
+ "y": 270.0,
869
+ "z": 0.0
870
+ },
871
+ "agent_cameraHorizon": 60.00001525878906,
872
+ "agent_isStanding": true,
873
+ "agent_inHighFrictionArea": false
874
+ },
875
+ "camera_info": {
876
+ "cameraPosition": {
877
+ "x": 4.900000095367432,
878
+ "y": 1.5759997367858887,
879
+ "z": 1.7999999523162842
880
+ },
881
+ "cameraOrthSize": -1.0,
882
+ "fov": 90.0
883
+ },
884
+ "common_object": [
885
+ "Dresser|2|1",
886
+ "Dresser|2|1___0",
887
+ "door|2|6"
888
+ ],
889
+ "different_object": [
890
+ "ArmChair|2|2|0",
891
+ "Bed|2|0|0",
892
+ "Laptop|surface|2|27"
893
+ ]
894
+ }
train/train1266/1/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8de9740ee3a324d20ceab2b2f9257ebb97df05dfe635c8cf2ee36a9ecf2ba0dc
3
+ size 3145856
train/train1266/1/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a50100f3d7838649d92ff68534d0a85ac81f9f249cef1f2b52bef1c82adbc670
3
+ size 2359424
train/train1266/1/1.json ADDED
@@ -0,0 +1,1379 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "FloorLamp|2|3|1",
5
+ "object_info": {
6
+ "name": "FloorLamp|2|3|1",
7
+ "position": {
8
+ "x": 8.832945823669434,
9
+ "y": -0.0030034780502319336,
10
+ "z": 3.331301689147949
11
+ },
12
+ "rotation": {
13
+ "x": 0.008981282822787762,
14
+ "y": 165.5211944580078,
15
+ "z": -0.0004530000442173332
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": false,
20
+ "toggleable": true,
21
+ "isToggled": true,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 3.9300003051757812,
45
+ "salientMaterials": [
46
+ "Metal"
47
+ ],
48
+ "receptacleObjectIds": null,
49
+ "distance": 4.2437262535095215,
50
+ "objectType": "FloorLamp",
51
+ "objectId": "FloorLamp|2|3|1",
52
+ "assetId": "Floor_Lamp_22",
53
+ "parentReceptacles": [
54
+ "Floor"
55
+ ],
56
+ "controlledObjects": [],
57
+ "isMoving": false,
58
+ "axisAlignedBoundingBox": {
59
+ "cornerPoints": [
60
+ [
61
+ 9.109576225280762,
62
+ 1.8784253597259521,
63
+ 3.6065993309020996
64
+ ],
65
+ [
66
+ 9.109576225280762,
67
+ 1.8784253597259521,
68
+ 3.053896903991699
69
+ ],
70
+ [
71
+ 9.109576225280762,
72
+ -0.0004411935806274414,
73
+ 3.6065993309020996
74
+ ],
75
+ [
76
+ 9.109576225280762,
77
+ -0.0004411935806274414,
78
+ 3.053896903991699
79
+ ],
80
+ [
81
+ 8.558926582336426,
82
+ 1.8784253597259521,
83
+ 3.6065993309020996
84
+ ],
85
+ [
86
+ 8.558926582336426,
87
+ 1.8784253597259521,
88
+ 3.053896903991699
89
+ ],
90
+ [
91
+ 8.558926582336426,
92
+ -0.0004411935806274414,
93
+ 3.6065993309020996
94
+ ],
95
+ [
96
+ 8.558926582336426,
97
+ -0.0004411935806274414,
98
+ 3.053896903991699
99
+ ]
100
+ ],
101
+ "center": {
102
+ "x": 8.834251403808594,
103
+ "y": 0.9389920830726624,
104
+ "z": 3.3302481174468994
105
+ },
106
+ "size": {
107
+ "x": 0.5506496429443359,
108
+ "y": 1.8788665533065796,
109
+ "z": 0.5527024269104004
110
+ }
111
+ },
112
+ "objectOrientedBoundingBox": {
113
+ "cornerPoints": [
114
+ [
115
+ 8.648694038391113,
116
+ -0.0004465058445930481,
117
+ 3.0155017375946045
118
+ ],
119
+ [
120
+ 9.14900016784668,
121
+ -0.0004424205981194973,
122
+ 3.1446924209594727
123
+ ],
124
+ [
125
+ 9.019808769226074,
126
+ -0.0003614232409745455,
127
+ 3.6450016498565674
128
+ ],
129
+ [
130
+ 8.519502639770508,
131
+ -0.0003655084874480963,
132
+ 3.5158112049102783
133
+ ],
134
+ [
135
+ 8.64875316619873,
136
+ 1.878377079963684,
137
+ 3.0152130126953125
138
+ ],
139
+ [
140
+ 9.149060249328613,
141
+ 1.8783811330795288,
142
+ 3.1444034576416016
143
+ ],
144
+ [
145
+ 9.019868850708008,
146
+ 1.8784621953964233,
147
+ 3.6447129249572754
148
+ ],
149
+ [
150
+ 8.519561767578125,
151
+ 1.8784581422805786,
152
+ 3.5155222415924072
153
+ ]
154
+ ]
155
+ }
156
+ }
157
+ },
158
+ {
159
+ "objectId": "door|2|6",
160
+ "object_info": {
161
+ "name": "door|2|6",
162
+ "position": {
163
+ "x": 4.960543155670166,
164
+ "y": -0.0005983114242553711,
165
+ "z": 3.6700501441955566
166
+ },
167
+ "rotation": {
168
+ "x": -0.0,
169
+ "y": 0.0,
170
+ "z": 0.0
171
+ },
172
+ "visible": true,
173
+ "isInteractable": true,
174
+ "receptacle": false,
175
+ "toggleable": false,
176
+ "isToggled": false,
177
+ "breakable": false,
178
+ "isBroken": false,
179
+ "canFillWithLiquid": false,
180
+ "isFilledWithLiquid": false,
181
+ "fillLiquid": null,
182
+ "dirtyable": false,
183
+ "isDirty": false,
184
+ "canBeUsedUp": false,
185
+ "isUsedUp": false,
186
+ "cookable": false,
187
+ "isCooked": false,
188
+ "temperature": "RoomTemp",
189
+ "isHeatSource": false,
190
+ "isColdSource": false,
191
+ "sliceable": false,
192
+ "isSliced": false,
193
+ "openable": true,
194
+ "isOpen": true,
195
+ "openness": 1.0,
196
+ "pickupable": false,
197
+ "isPickedUp": false,
198
+ "moveable": false,
199
+ "mass": 0.0,
200
+ "salientMaterials": null,
201
+ "receptacleObjectIds": null,
202
+ "distance": 2.1215627193450928,
203
+ "objectType": "Doorway",
204
+ "objectId": "door|2|6",
205
+ "assetId": "Doorway_8",
206
+ "parentReceptacles": [
207
+ "Floor"
208
+ ],
209
+ "controlledObjects": null,
210
+ "isMoving": false,
211
+ "axisAlignedBoundingBox": {
212
+ "cornerPoints": [
213
+ [
214
+ 4.9760847091674805,
215
+ 2.0993974208831787,
216
+ 3.739671468734741
217
+ ],
218
+ [
219
+ 4.9760847091674805,
220
+ 2.0993974208831787,
221
+ 2.7530148029327393
222
+ ],
223
+ [
224
+ 4.9760847091674805,
225
+ 0.0,
226
+ 3.739671468734741
227
+ ],
228
+ [
229
+ 4.9760847091674805,
230
+ 0.0,
231
+ 2.7530148029327393
232
+ ],
233
+ [
234
+ 3.9121217727661133,
235
+ 2.0993974208831787,
236
+ 3.739671468734741
237
+ ],
238
+ [
239
+ 3.9121217727661133,
240
+ 2.0993974208831787,
241
+ 2.7530148029327393
242
+ ],
243
+ [
244
+ 3.9121217727661133,
245
+ 0.0,
246
+ 3.739671468734741
247
+ ],
248
+ [
249
+ 3.9121217727661133,
250
+ 0.0,
251
+ 2.7530148029327393
252
+ ]
253
+ ],
254
+ "center": {
255
+ "x": 4.444103240966797,
256
+ "y": 1.0496987104415894,
257
+ "z": 3.2463431358337402
258
+ },
259
+ "size": {
260
+ "x": 1.0639629364013672,
261
+ "y": 2.0993974208831787,
262
+ "z": 0.986656665802002
263
+ }
264
+ },
265
+ "objectOrientedBoundingBox": null
266
+ }
267
+ },
268
+ {
269
+ "objectId": "ArmChair|2|3|0",
270
+ "object_info": {
271
+ "name": "ArmChair|2|3|0",
272
+ "position": {
273
+ "x": 7.98681640625,
274
+ "y": 0.002482771873474121,
275
+ "z": 3.321834087371826
276
+ },
277
+ "rotation": {
278
+ "x": 0.0,
279
+ "y": 180.0,
280
+ "z": 0.0
281
+ },
282
+ "visible": false,
283
+ "isInteractable": false,
284
+ "receptacle": true,
285
+ "toggleable": false,
286
+ "isToggled": false,
287
+ "breakable": false,
288
+ "isBroken": false,
289
+ "canFillWithLiquid": false,
290
+ "isFilledWithLiquid": false,
291
+ "fillLiquid": null,
292
+ "dirtyable": false,
293
+ "isDirty": false,
294
+ "canBeUsedUp": false,
295
+ "isUsedUp": false,
296
+ "cookable": false,
297
+ "isCooked": false,
298
+ "temperature": "RoomTemp",
299
+ "isHeatSource": false,
300
+ "isColdSource": false,
301
+ "sliceable": false,
302
+ "isSliced": false,
303
+ "openable": false,
304
+ "isOpen": false,
305
+ "openness": 0.0,
306
+ "pickupable": false,
307
+ "isPickedUp": false,
308
+ "moveable": true,
309
+ "mass": 28.299999237060547,
310
+ "salientMaterials": [
311
+ "Fabric"
312
+ ],
313
+ "receptacleObjectIds": [],
314
+ "distance": 3.4927163124084473,
315
+ "objectType": "ArmChair",
316
+ "objectId": "ArmChair|2|3|0",
317
+ "assetId": "RoboTHOR_armchair_tullsta",
318
+ "parentReceptacles": [
319
+ "Floor"
320
+ ],
321
+ "controlledObjects": null,
322
+ "isMoving": false,
323
+ "axisAlignedBoundingBox": {
324
+ "cornerPoints": [
325
+ [
326
+ 8.329514503479004,
327
+ 0.6466569900512695,
328
+ 3.6386990547180176
329
+ ],
330
+ [
331
+ 8.329514503479004,
332
+ 0.6466569900512695,
333
+ 3.021869659423828
334
+ ],
335
+ [
336
+ 8.329514503479004,
337
+ -1.4454126358032227e-05,
338
+ 3.6386990547180176
339
+ ],
340
+ [
341
+ 8.329514503479004,
342
+ -1.4454126358032227e-05,
343
+ 3.021869659423828
344
+ ],
345
+ [
346
+ 7.6490936279296875,
347
+ 0.6466569900512695,
348
+ 3.6386990547180176
349
+ ],
350
+ [
351
+ 7.6490936279296875,
352
+ 0.6466569900512695,
353
+ 3.021869659423828
354
+ ],
355
+ [
356
+ 7.6490936279296875,
357
+ -1.4454126358032227e-05,
358
+ 3.6386990547180176
359
+ ],
360
+ [
361
+ 7.6490936279296875,
362
+ -1.4454126358032227e-05,
363
+ 3.021869659423828
364
+ ]
365
+ ],
366
+ "center": {
367
+ "x": 7.989304065704346,
368
+ "y": 0.32332125306129456,
369
+ "z": 3.330284357070923
370
+ },
371
+ "size": {
372
+ "x": 0.6804208755493164,
373
+ "y": 0.6466714143753052,
374
+ "z": 0.6168293952941895
375
+ }
376
+ },
377
+ "objectOrientedBoundingBox": {
378
+ "cornerPoints": [
379
+ [
380
+ 7.6490936279296875,
381
+ -1.4394521713256836e-05,
382
+ 3.021869659423828
383
+ ],
384
+ [
385
+ 8.329514503479004,
386
+ -1.4394521713256836e-05,
387
+ 3.021869659423828
388
+ ],
389
+ [
390
+ 8.329514503479004,
391
+ -1.4394521713256836e-05,
392
+ 3.6386990547180176
393
+ ],
394
+ [
395
+ 7.6490936279296875,
396
+ -1.4394521713256836e-05,
397
+ 3.6386990547180176
398
+ ],
399
+ [
400
+ 7.6490936279296875,
401
+ 0.6466567516326904,
402
+ 3.021869659423828
403
+ ],
404
+ [
405
+ 8.329514503479004,
406
+ 0.6466567516326904,
407
+ 3.021869659423828
408
+ ],
409
+ [
410
+ 8.329514503479004,
411
+ 0.6466567516326904,
412
+ 3.6386990547180176
413
+ ],
414
+ [
415
+ 7.6490936279296875,
416
+ 0.6466567516326904,
417
+ 3.6386990547180176
418
+ ]
419
+ ]
420
+ }
421
+ }
422
+ },
423
+ {
424
+ "objectId": "Vase|surface|2|22",
425
+ "object_info": {
426
+ "name": "Vase|surface|2|22",
427
+ "position": {
428
+ "x": 7.023545742034912,
429
+ "y": 0.6983276605606079,
430
+ "z": 0.12290433049201965
431
+ },
432
+ "rotation": {
433
+ "x": -0.0005099728587083519,
434
+ "y": 0.0004951954470016062,
435
+ "z": -0.001561746932566166
436
+ },
437
+ "visible": false,
438
+ "isInteractable": false,
439
+ "receptacle": false,
440
+ "toggleable": false,
441
+ "isToggled": false,
442
+ "breakable": true,
443
+ "isBroken": false,
444
+ "canFillWithLiquid": false,
445
+ "isFilledWithLiquid": false,
446
+ "fillLiquid": null,
447
+ "dirtyable": false,
448
+ "isDirty": false,
449
+ "canBeUsedUp": false,
450
+ "isUsedUp": false,
451
+ "cookable": false,
452
+ "isCooked": false,
453
+ "temperature": "RoomTemp",
454
+ "isHeatSource": false,
455
+ "isColdSource": false,
456
+ "sliceable": false,
457
+ "isSliced": false,
458
+ "openable": false,
459
+ "isOpen": false,
460
+ "openness": 0.0,
461
+ "pickupable": true,
462
+ "isPickedUp": false,
463
+ "moveable": false,
464
+ "mass": 1.0,
465
+ "salientMaterials": [
466
+ "Ceramic"
467
+ ],
468
+ "receptacleObjectIds": null,
469
+ "distance": 2.6044681072235107,
470
+ "objectType": "Vase",
471
+ "objectId": "Vase|surface|2|22",
472
+ "assetId": "Vase_Tall_4",
473
+ "parentReceptacles": [
474
+ "Dresser|2|1",
475
+ "Floor"
476
+ ],
477
+ "controlledObjects": null,
478
+ "isMoving": false,
479
+ "axisAlignedBoundingBox": {
480
+ "cornerPoints": [
481
+ [
482
+ 7.1111159324646,
483
+ 0.9921165704727173,
484
+ 0.21022382378578186
485
+ ],
486
+ [
487
+ 7.1111159324646,
488
+ 0.9921165704727173,
489
+ 0.03558383136987686
490
+ ],
491
+ [
492
+ 7.1111159324646,
493
+ 0.6974319219589233,
494
+ 0.21022382378578186
495
+ ],
496
+ [
497
+ 7.1111159324646,
498
+ 0.6974319219589233,
499
+ 0.03558383136987686
500
+ ],
501
+ [
502
+ 6.93597936630249,
503
+ 0.9921165704727173,
504
+ 0.21022382378578186
505
+ ],
506
+ [
507
+ 6.93597936630249,
508
+ 0.9921165704727173,
509
+ 0.03558383136987686
510
+ ],
511
+ [
512
+ 6.93597936630249,
513
+ 0.6974319219589233,
514
+ 0.21022382378578186
515
+ ],
516
+ [
517
+ 6.93597936630249,
518
+ 0.6974319219589233,
519
+ 0.03558383136987686
520
+ ]
521
+ ],
522
+ "center": {
523
+ "x": 7.023547649383545,
524
+ "y": 0.8447742462158203,
525
+ "z": 0.12290383130311966
526
+ },
527
+ "size": {
528
+ "x": 0.17513656616210938,
529
+ "y": 0.29468464851379395,
530
+ "z": 0.1746399998664856
531
+ }
532
+ },
533
+ "objectOrientedBoundingBox": {
534
+ "cornerPoints": [
535
+ [
536
+ 7.111114501953125,
537
+ 0.6974307298660278,
538
+ 0.2102242410182953
539
+ ],
540
+ [
541
+ 6.935976505279541,
542
+ 0.6974354982376099,
543
+ 0.21022576093673706
544
+ ],
545
+ [
546
+ 6.935975074768066,
547
+ 0.6974339485168457,
548
+ 0.03558456152677536
549
+ ],
550
+ [
551
+ 7.11111307144165,
552
+ 0.6974291801452637,
553
+ 0.03558304160833359
554
+ ],
555
+ [
556
+ 7.1111226081848145,
557
+ 0.9921169877052307,
558
+ 0.21022161841392517
559
+ ],
560
+ [
561
+ 6.9359846115112305,
562
+ 0.9921217560768127,
563
+ 0.21022313833236694
564
+ ],
565
+ [
566
+ 6.935983180999756,
567
+ 0.9921202063560486,
568
+ 0.03558193892240524
569
+ ],
570
+ [
571
+ 7.11112117767334,
572
+ 0.9921154379844666,
573
+ 0.03558041900396347
574
+ ]
575
+ ]
576
+ }
577
+ }
578
+ },
579
+ {
580
+ "objectId": "Dresser|2|1___1",
581
+ "object_info": {
582
+ "name": "Drawer (1)",
583
+ "position": {
584
+ "x": 5.649626731872559,
585
+ "y": 0.47607824206352234,
586
+ "z": 0.27938833832740784
587
+ },
588
+ "rotation": {
589
+ "x": -0.0,
590
+ "y": 0.0,
591
+ "z": 0.0
592
+ },
593
+ "visible": false,
594
+ "isInteractable": false,
595
+ "receptacle": true,
596
+ "toggleable": false,
597
+ "isToggled": false,
598
+ "breakable": false,
599
+ "isBroken": false,
600
+ "canFillWithLiquid": false,
601
+ "isFilledWithLiquid": false,
602
+ "fillLiquid": null,
603
+ "dirtyable": false,
604
+ "isDirty": false,
605
+ "canBeUsedUp": false,
606
+ "isUsedUp": false,
607
+ "cookable": false,
608
+ "isCooked": false,
609
+ "temperature": "RoomTemp",
610
+ "isHeatSource": false,
611
+ "isColdSource": false,
612
+ "sliceable": false,
613
+ "isSliced": false,
614
+ "openable": true,
615
+ "isOpen": false,
616
+ "openness": 0.0,
617
+ "pickupable": false,
618
+ "isPickedUp": false,
619
+ "moveable": false,
620
+ "mass": 0.0,
621
+ "salientMaterials": null,
622
+ "receptacleObjectIds": [],
623
+ "distance": 1.6629106998443604,
624
+ "objectType": "Drawer",
625
+ "objectId": "Dresser|2|1___1",
626
+ "assetId": "",
627
+ "parentReceptacles": [
628
+ "Floor"
629
+ ],
630
+ "controlledObjects": null,
631
+ "isMoving": false,
632
+ "axisAlignedBoundingBox": {
633
+ "cornerPoints": [
634
+ [
635
+ 6.16652250289917,
636
+ 0.6506216526031494,
637
+ 0.40831050276756287
638
+ ],
639
+ [
640
+ 6.16652250289917,
641
+ 0.6506216526031494,
642
+ 0.14765623211860657
643
+ ],
644
+ [
645
+ 6.16652250289917,
646
+ 0.3421347141265869,
647
+ 0.40831050276756287
648
+ ],
649
+ [
650
+ 6.16652250289917,
651
+ 0.3421347141265869,
652
+ 0.14765623211860657
653
+ ],
654
+ [
655
+ 5.132730960845947,
656
+ 0.6506216526031494,
657
+ 0.40831050276756287
658
+ ],
659
+ [
660
+ 5.132730960845947,
661
+ 0.6506216526031494,
662
+ 0.14765623211860657
663
+ ],
664
+ [
665
+ 5.132730960845947,
666
+ 0.3421347141265869,
667
+ 0.40831050276756287
668
+ ],
669
+ [
670
+ 5.132730960845947,
671
+ 0.3421347141265869,
672
+ 0.14765623211860657
673
+ ]
674
+ ],
675
+ "center": {
676
+ "x": 5.649626731872559,
677
+ "y": 0.49637818336486816,
678
+ "z": 0.2779833674430847
679
+ },
680
+ "size": {
681
+ "x": 1.0337915420532227,
682
+ "y": 0.3084869384765625,
683
+ "z": 0.2606542706489563
684
+ }
685
+ },
686
+ "objectOrientedBoundingBox": null
687
+ }
688
+ },
689
+ {
690
+ "objectId": "Dresser|2|1",
691
+ "object_info": {
692
+ "name": "Dresser|2|1",
693
+ "position": {
694
+ "x": 6.165773391723633,
695
+ "y": 0.0015782415866851807,
696
+ "z": 0.20938833057880402
697
+ },
698
+ "rotation": {
699
+ "x": -0.0,
700
+ "y": 0.0,
701
+ "z": 0.0
702
+ },
703
+ "visible": false,
704
+ "isInteractable": false,
705
+ "receptacle": true,
706
+ "toggleable": false,
707
+ "isToggled": false,
708
+ "breakable": false,
709
+ "isBroken": false,
710
+ "canFillWithLiquid": false,
711
+ "isFilledWithLiquid": false,
712
+ "fillLiquid": null,
713
+ "dirtyable": false,
714
+ "isDirty": false,
715
+ "canBeUsedUp": false,
716
+ "isUsedUp": false,
717
+ "cookable": false,
718
+ "isCooked": false,
719
+ "temperature": "RoomTemp",
720
+ "isHeatSource": false,
721
+ "isColdSource": false,
722
+ "sliceable": false,
723
+ "isSliced": false,
724
+ "openable": false,
725
+ "isOpen": false,
726
+ "openness": 0.0,
727
+ "pickupable": false,
728
+ "isPickedUp": false,
729
+ "moveable": true,
730
+ "mass": 57.0,
731
+ "salientMaterials": [
732
+ "Wood"
733
+ ],
734
+ "receptacleObjectIds": [
735
+ "Vase|surface|2|22",
736
+ "AlarmClock|surface|2|26",
737
+ "Pen|surface|2|23",
738
+ "Statue|surface|2|28"
739
+ ],
740
+ "distance": 2.131072759628296,
741
+ "objectType": "Dresser",
742
+ "objectId": "Dresser|2|1",
743
+ "assetId": "Dresser_209_1",
744
+ "parentReceptacles": [
745
+ "Floor"
746
+ ],
747
+ "controlledObjects": null,
748
+ "isMoving": false,
749
+ "axisAlignedBoundingBox": {
750
+ "cornerPoints": [
751
+ [
752
+ 7.313997745513916,
753
+ 0.6974331140518188,
754
+ 0.40591591596603394
755
+ ],
756
+ [
757
+ 7.313997745513916,
758
+ 0.6974331140518188,
759
+ 0.024997547268867493
760
+ ],
761
+ [
762
+ 7.313997745513916,
763
+ 1.7285346984863281e-06,
764
+ 0.40591591596603394
765
+ ],
766
+ [
767
+ 7.313997745513916,
768
+ 1.7285346984863281e-06,
769
+ 0.024997547268867493
770
+ ],
771
+ [
772
+ 5.026513576507568,
773
+ 0.6974331140518188,
774
+ 0.40591591596603394
775
+ ],
776
+ [
777
+ 5.026513576507568,
778
+ 0.6974331140518188,
779
+ 0.024997547268867493
780
+ ],
781
+ [
782
+ 5.026513576507568,
783
+ 1.7285346984863281e-06,
784
+ 0.40591591596603394
785
+ ],
786
+ [
787
+ 5.026513576507568,
788
+ 1.7285346984863281e-06,
789
+ 0.024997547268867493
790
+ ]
791
+ ],
792
+ "center": {
793
+ "x": 6.170255661010742,
794
+ "y": 0.34871742129325867,
795
+ "z": 0.2154567390680313
796
+ },
797
+ "size": {
798
+ "x": 2.2874841690063477,
799
+ "y": 0.6974313855171204,
800
+ "z": 0.38091838359832764
801
+ }
802
+ },
803
+ "objectOrientedBoundingBox": {
804
+ "cornerPoints": [
805
+ [
806
+ 7.313997268676758,
807
+ 1.9371509552001953e-06,
808
+ 0.4059157967567444
809
+ ],
810
+ [
811
+ 5.026514053344727,
812
+ 1.9371509552001953e-06,
813
+ 0.4059157967567444
814
+ ],
815
+ [
816
+ 5.026514053344727,
817
+ 1.9371509552001953e-06,
818
+ 0.02499757707118988
819
+ ],
820
+ [
821
+ 7.313997268676758,
822
+ 1.9371509552001953e-06,
823
+ 0.02499757707118988
824
+ ],
825
+ [
826
+ 7.313997268676758,
827
+ 0.6974328756332397,
828
+ 0.4059157967567444
829
+ ],
830
+ [
831
+ 5.026514053344727,
832
+ 0.6974328756332397,
833
+ 0.4059157967567444
834
+ ],
835
+ [
836
+ 5.026514053344727,
837
+ 0.6974328756332397,
838
+ 0.02499757707118988
839
+ ],
840
+ [
841
+ 7.313997268676758,
842
+ 0.6974328756332397,
843
+ 0.02499757707118988
844
+ ]
845
+ ]
846
+ }
847
+ }
848
+ },
849
+ {
850
+ "objectId": "Dresser|2|1___3",
851
+ "object_info": {
852
+ "name": "Drawer (3)",
853
+ "position": {
854
+ "x": 6.68980073928833,
855
+ "y": 0.47976580262184143,
856
+ "z": 0.27938833832740784
857
+ },
858
+ "rotation": {
859
+ "x": -0.0,
860
+ "y": 0.0,
861
+ "z": 0.0
862
+ },
863
+ "visible": false,
864
+ "isInteractable": false,
865
+ "receptacle": true,
866
+ "toggleable": false,
867
+ "isToggled": false,
868
+ "breakable": false,
869
+ "isBroken": false,
870
+ "canFillWithLiquid": false,
871
+ "isFilledWithLiquid": false,
872
+ "fillLiquid": null,
873
+ "dirtyable": false,
874
+ "isDirty": false,
875
+ "canBeUsedUp": false,
876
+ "isUsedUp": false,
877
+ "cookable": false,
878
+ "isCooked": false,
879
+ "temperature": "RoomTemp",
880
+ "isHeatSource": false,
881
+ "isColdSource": false,
882
+ "sliceable": false,
883
+ "isSliced": false,
884
+ "openable": true,
885
+ "isOpen": false,
886
+ "openness": 0.0,
887
+ "pickupable": false,
888
+ "isPickedUp": false,
889
+ "moveable": false,
890
+ "mass": 0.0,
891
+ "salientMaterials": null,
892
+ "receptacleObjectIds": [],
893
+ "distance": 2.2793779373168945,
894
+ "objectType": "Drawer",
895
+ "objectId": "Dresser|2|1___3",
896
+ "assetId": "",
897
+ "parentReceptacles": [
898
+ "Floor"
899
+ ],
900
+ "controlledObjects": null,
901
+ "isMoving": false,
902
+ "axisAlignedBoundingBox": {
903
+ "cornerPoints": [
904
+ [
905
+ 7.206696510314941,
906
+ 0.6543091535568237,
907
+ 0.40831050276756287
908
+ ],
909
+ [
910
+ 7.206696510314941,
911
+ 0.6543091535568237,
912
+ 0.14765623211860657
913
+ ],
914
+ [
915
+ 7.206696510314941,
916
+ 0.34582221508026123,
917
+ 0.40831050276756287
918
+ ],
919
+ [
920
+ 7.206696510314941,
921
+ 0.34582221508026123,
922
+ 0.14765623211860657
923
+ ],
924
+ [
925
+ 6.172904968261719,
926
+ 0.6543091535568237,
927
+ 0.40831050276756287
928
+ ],
929
+ [
930
+ 6.172904968261719,
931
+ 0.6543091535568237,
932
+ 0.14765623211860657
933
+ ],
934
+ [
935
+ 6.172904968261719,
936
+ 0.34582221508026123,
937
+ 0.40831050276756287
938
+ ],
939
+ [
940
+ 6.172904968261719,
941
+ 0.34582221508026123,
942
+ 0.14765623211860657
943
+ ]
944
+ ],
945
+ "center": {
946
+ "x": 6.68980073928833,
947
+ "y": 0.5000656843185425,
948
+ "z": 0.2779833674430847
949
+ },
950
+ "size": {
951
+ "x": 1.0337915420532227,
952
+ "y": 0.3084869384765625,
953
+ "z": 0.2606542706489563
954
+ }
955
+ },
956
+ "objectOrientedBoundingBox": null
957
+ }
958
+ },
959
+ {
960
+ "objectId": "AlarmClock|surface|2|26",
961
+ "object_info": {
962
+ "name": "AlarmClock|surface|2|26",
963
+ "position": {
964
+ "x": 6.738453388214111,
965
+ "y": 0.6988660097122192,
966
+ "z": 0.2646715044975281
967
+ },
968
+ "rotation": {
969
+ "x": -4.923631058773026e-05,
970
+ "y": -3.864047539536841e-05,
971
+ "z": -5.7612662203609943e-05
972
+ },
973
+ "visible": false,
974
+ "isInteractable": false,
975
+ "receptacle": false,
976
+ "toggleable": false,
977
+ "isToggled": false,
978
+ "breakable": false,
979
+ "isBroken": false,
980
+ "canFillWithLiquid": false,
981
+ "isFilledWithLiquid": false,
982
+ "fillLiquid": null,
983
+ "dirtyable": false,
984
+ "isDirty": false,
985
+ "canBeUsedUp": false,
986
+ "isUsedUp": false,
987
+ "cookable": false,
988
+ "isCooked": false,
989
+ "temperature": "RoomTemp",
990
+ "isHeatSource": false,
991
+ "isColdSource": false,
992
+ "sliceable": false,
993
+ "isSliced": false,
994
+ "openable": false,
995
+ "isOpen": false,
996
+ "openness": 0.0,
997
+ "pickupable": true,
998
+ "isPickedUp": false,
999
+ "moveable": false,
1000
+ "mass": 0.800000011920929,
1001
+ "salientMaterials": [
1002
+ "Metal",
1003
+ "Plastic",
1004
+ "Glass"
1005
+ ],
1006
+ "receptacleObjectIds": null,
1007
+ "distance": 2.2954909801483154,
1008
+ "objectType": "AlarmClock",
1009
+ "objectId": "AlarmClock|surface|2|26",
1010
+ "assetId": "Alarm_Clock_23",
1011
+ "parentReceptacles": [
1012
+ "Dresser|2|1",
1013
+ "Floor"
1014
+ ],
1015
+ "controlledObjects": null,
1016
+ "isMoving": false,
1017
+ "axisAlignedBoundingBox": {
1018
+ "cornerPoints": [
1019
+ [
1020
+ 6.822515487670898,
1021
+ 0.9301871061325073,
1022
+ 0.3476290702819824
1023
+ ],
1024
+ [
1025
+ 6.822515487670898,
1026
+ 0.9301871061325073,
1027
+ 0.18260854482650757
1028
+ ],
1029
+ [
1030
+ 6.822515487670898,
1031
+ 0.6974329948425293,
1032
+ 0.3476290702819824
1033
+ ],
1034
+ [
1035
+ 6.822515487670898,
1036
+ 0.6974329948425293,
1037
+ 0.18260854482650757
1038
+ ],
1039
+ [
1040
+ 6.654695510864258,
1041
+ 0.9301871061325073,
1042
+ 0.3476290702819824
1043
+ ],
1044
+ [
1045
+ 6.654695510864258,
1046
+ 0.9301871061325073,
1047
+ 0.18260854482650757
1048
+ ],
1049
+ [
1050
+ 6.654695510864258,
1051
+ 0.6974329948425293,
1052
+ 0.3476290702819824
1053
+ ],
1054
+ [
1055
+ 6.654695510864258,
1056
+ 0.6974329948425293,
1057
+ 0.18260854482650757
1058
+ ]
1059
+ ],
1060
+ "center": {
1061
+ "x": 6.738605499267578,
1062
+ "y": 0.8138100504875183,
1063
+ "z": 0.265118807554245
1064
+ },
1065
+ "size": {
1066
+ "x": 0.16781997680664062,
1067
+ "y": 0.23275411128997803,
1068
+ "z": 0.16502052545547485
1069
+ }
1070
+ },
1071
+ "objectOrientedBoundingBox": {
1072
+ "cornerPoints": [
1073
+ [
1074
+ 6.822515964508057,
1075
+ 0.6974327564239502,
1076
+ 0.3476293981075287
1077
+ ],
1078
+ [
1079
+ 6.6546950340271,
1080
+ 0.6974329352378845,
1081
+ 0.34762927889823914
1082
+ ],
1083
+ [
1084
+ 6.654695510864258,
1085
+ 0.697432816028595,
1086
+ 0.18260842561721802
1087
+ ],
1088
+ [
1089
+ 6.822515964508057,
1090
+ 0.6974326372146606,
1091
+ 0.18260854482650757
1092
+ ],
1093
+ [
1094
+ 6.822516441345215,
1095
+ 0.930187463760376,
1096
+ 0.347629189491272
1097
+ ],
1098
+ [
1099
+ 6.654695510864258,
1100
+ 0.9301876425743103,
1101
+ 0.3476290702819824
1102
+ ],
1103
+ [
1104
+ 6.654695510864258,
1105
+ 0.930187463760376,
1106
+ 0.1826082170009613
1107
+ ],
1108
+ [
1109
+ 6.822516441345215,
1110
+ 0.9301872849464417,
1111
+ 0.18260833621025085
1112
+ ]
1113
+ ]
1114
+ }
1115
+ }
1116
+ },
1117
+ {
1118
+ "objectId": "Dresser|2|1___2",
1119
+ "object_info": {
1120
+ "name": "Drawer (2)",
1121
+ "position": {
1122
+ "x": 6.69377326965332,
1123
+ "y": 0.16780176758766174,
1124
+ "z": 0.27938833832740784
1125
+ },
1126
+ "rotation": {
1127
+ "x": -0.0,
1128
+ "y": 0.0,
1129
+ "z": 0.0
1130
+ },
1131
+ "visible": false,
1132
+ "isInteractable": false,
1133
+ "receptacle": true,
1134
+ "toggleable": false,
1135
+ "isToggled": false,
1136
+ "breakable": false,
1137
+ "isBroken": false,
1138
+ "canFillWithLiquid": false,
1139
+ "isFilledWithLiquid": false,
1140
+ "fillLiquid": null,
1141
+ "dirtyable": false,
1142
+ "isDirty": false,
1143
+ "canBeUsedUp": false,
1144
+ "isUsedUp": false,
1145
+ "cookable": false,
1146
+ "isCooked": false,
1147
+ "temperature": "RoomTemp",
1148
+ "isHeatSource": false,
1149
+ "isColdSource": false,
1150
+ "sliceable": false,
1151
+ "isSliced": false,
1152
+ "openable": true,
1153
+ "isOpen": false,
1154
+ "openness": 0.0,
1155
+ "pickupable": false,
1156
+ "isPickedUp": false,
1157
+ "moveable": false,
1158
+ "mass": 0.0,
1159
+ "salientMaterials": null,
1160
+ "receptacleObjectIds": [],
1161
+ "distance": 2.3599038124084473,
1162
+ "objectType": "Drawer",
1163
+ "objectId": "Dresser|2|1___2",
1164
+ "assetId": "",
1165
+ "parentReceptacles": [
1166
+ "Floor"
1167
+ ],
1168
+ "controlledObjects": null,
1169
+ "isMoving": false,
1170
+ "axisAlignedBoundingBox": {
1171
+ "cornerPoints": [
1172
+ [
1173
+ 7.210669040679932,
1174
+ 0.34234514832496643,
1175
+ 0.40831050276756287
1176
+ ],
1177
+ [
1178
+ 7.210669040679932,
1179
+ 0.34234514832496643,
1180
+ 0.14765623211860657
1181
+ ],
1182
+ [
1183
+ 7.210669040679932,
1184
+ 0.03385820984840393,
1185
+ 0.40831050276756287
1186
+ ],
1187
+ [
1188
+ 7.210669040679932,
1189
+ 0.03385820984840393,
1190
+ 0.14765623211860657
1191
+ ],
1192
+ [
1193
+ 6.176877498626709,
1194
+ 0.34234514832496643,
1195
+ 0.40831050276756287
1196
+ ],
1197
+ [
1198
+ 6.176877498626709,
1199
+ 0.34234514832496643,
1200
+ 0.14765623211860657
1201
+ ],
1202
+ [
1203
+ 6.176877498626709,
1204
+ 0.03385820984840393,
1205
+ 0.40831050276756287
1206
+ ],
1207
+ [
1208
+ 6.176877498626709,
1209
+ 0.03385820984840393,
1210
+ 0.14765623211860657
1211
+ ]
1212
+ ],
1213
+ "center": {
1214
+ "x": 6.69377326965332,
1215
+ "y": 0.18810167908668518,
1216
+ "z": 0.2779833674430847
1217
+ },
1218
+ "size": {
1219
+ "x": 1.0337915420532227,
1220
+ "y": 0.3084869384765625,
1221
+ "z": 0.2606542706489563
1222
+ }
1223
+ },
1224
+ "objectOrientedBoundingBox": null
1225
+ }
1226
+ },
1227
+ {
1228
+ "objectId": "Dresser|2|1___0",
1229
+ "object_info": {
1230
+ "name": "Drawer",
1231
+ "position": {
1232
+ "x": 5.649626731872559,
1233
+ "y": 0.16780176758766174,
1234
+ "z": 0.27938833832740784
1235
+ },
1236
+ "rotation": {
1237
+ "x": -0.0,
1238
+ "y": 0.0,
1239
+ "z": 0.0
1240
+ },
1241
+ "visible": false,
1242
+ "isInteractable": false,
1243
+ "receptacle": true,
1244
+ "toggleable": false,
1245
+ "isToggled": false,
1246
+ "breakable": false,
1247
+ "isBroken": false,
1248
+ "canFillWithLiquid": false,
1249
+ "isFilledWithLiquid": false,
1250
+ "fillLiquid": null,
1251
+ "dirtyable": false,
1252
+ "isDirty": false,
1253
+ "canBeUsedUp": false,
1254
+ "isUsedUp": false,
1255
+ "cookable": false,
1256
+ "isCooked": false,
1257
+ "temperature": "RoomTemp",
1258
+ "isHeatSource": false,
1259
+ "isColdSource": false,
1260
+ "sliceable": false,
1261
+ "isSliced": false,
1262
+ "openable": true,
1263
+ "isOpen": false,
1264
+ "openness": 0.0,
1265
+ "pickupable": false,
1266
+ "isPickedUp": false,
1267
+ "moveable": false,
1268
+ "mass": 0.0,
1269
+ "salientMaterials": null,
1270
+ "receptacleObjectIds": [
1271
+ "Pen|surface|2|25",
1272
+ "Pen|surface|2|24"
1273
+ ],
1274
+ "distance": 1.7670011520385742,
1275
+ "objectType": "Drawer",
1276
+ "objectId": "Dresser|2|1___0",
1277
+ "assetId": "",
1278
+ "parentReceptacles": [
1279
+ "Floor"
1280
+ ],
1281
+ "controlledObjects": null,
1282
+ "isMoving": false,
1283
+ "axisAlignedBoundingBox": {
1284
+ "cornerPoints": [
1285
+ [
1286
+ 6.16652250289917,
1287
+ 0.3403380513191223,
1288
+ 0.40831050276756287
1289
+ ],
1290
+ [
1291
+ 6.16652250289917,
1292
+ 0.3403380513191223,
1293
+ 0.14765623211860657
1294
+ ],
1295
+ [
1296
+ 6.16652250289917,
1297
+ 0.03385818004608154,
1298
+ 0.40831050276756287
1299
+ ],
1300
+ [
1301
+ 6.16652250289917,
1302
+ 0.03385818004608154,
1303
+ 0.14765623211860657
1304
+ ],
1305
+ [
1306
+ 5.132730960845947,
1307
+ 0.3403380513191223,
1308
+ 0.40831050276756287
1309
+ ],
1310
+ [
1311
+ 5.132730960845947,
1312
+ 0.3403380513191223,
1313
+ 0.14765623211860657
1314
+ ],
1315
+ [
1316
+ 5.132730960845947,
1317
+ 0.03385818004608154,
1318
+ 0.40831050276756287
1319
+ ],
1320
+ [
1321
+ 5.132730960845947,
1322
+ 0.03385818004608154,
1323
+ 0.14765623211860657
1324
+ ]
1325
+ ],
1326
+ "center": {
1327
+ "x": 5.649626731872559,
1328
+ "y": 0.18709811568260193,
1329
+ "z": 0.2779833674430847
1330
+ },
1331
+ "size": {
1332
+ "x": 1.0337915420532227,
1333
+ "y": 0.30647987127304077,
1334
+ "z": 0.2606542706489563
1335
+ }
1336
+ },
1337
+ "objectOrientedBoundingBox": null
1338
+ }
1339
+ }
1340
+ ],
1341
+ "Agent": {
1342
+ "agent_position": {
1343
+ "x": 4.800000190734863,
1344
+ "y": 0.9009997844696045,
1345
+ "z": 1.7999999523162842
1346
+ },
1347
+ "agent_rotation": {
1348
+ "x": -0.0,
1349
+ "y": 90.0,
1350
+ "z": -0.0
1351
+ },
1352
+ "agent_cameraHorizon": 60.00001525878906,
1353
+ "agent_isStanding": true,
1354
+ "agent_inHighFrictionArea": false
1355
+ },
1356
+ "camera_info": {
1357
+ "cameraPosition": {
1358
+ "x": 4.800000190734863,
1359
+ "y": 1.5759997367858887,
1360
+ "z": 1.7999999523162842
1361
+ },
1362
+ "cameraOrthSize": -1.0,
1363
+ "fov": 90.0
1364
+ },
1365
+ "common_object": [
1366
+ "Dresser|2|1",
1367
+ "Dresser|2|1___0",
1368
+ "door|2|6"
1369
+ ],
1370
+ "different_object": [
1371
+ "Dresser|2|1___3",
1372
+ "Dresser|2|1___1",
1373
+ "FloorLamp|2|3|1",
1374
+ "Vase|surface|2|22",
1375
+ "AlarmClock|surface|2|26",
1376
+ "ArmChair|2|3|0",
1377
+ "Dresser|2|1___2"
1378
+ ]
1379
+ }
train/train1266/1/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30e45bae1f734468589e65219ed005fb8cec2de29418d1003605fba2658e1026
3
+ size 3145856
train/train1266/1/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ffcf0a468d6d6fdd5ea78dd38bea891464a77738a185b9ed87913744f1cfdd47
3
+ size 2359424
train/train1266/1/depth_0.png ADDED
train/train1266/1/depth_1.png ADDED
train/train1266/1/mask_questions.jsonl ADDED
File without changes
train/train1266/1/rgb_0.png ADDED

Git LFS Details

  • SHA256: d6541c7d79126fd6dfe1a73ed35447822979301337b60b7255de16759a7d99b9
  • Pointer size: 131 Bytes
  • Size of remote file: 666 kB
train/train1266/1/rgb_1.png ADDED

Git LFS Details

  • SHA256: c737dbd850211204877b416c95b83c4d7792d0ff45f0378565ca1e726647524f
  • Pointer size: 131 Bytes
  • Size of remote file: 703 kB
train/train1266/1/semantic_0.png ADDED
train/train1266/1/semantic_1.png ADDED
train/train1266/2/0.json ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "door|2|6",
5
+ "object_info": {
6
+ "name": "door|2|6",
7
+ "position": {
8
+ "x": 4.960543155670166,
9
+ "y": -0.0005983114242553711,
10
+ "z": 3.6700501441955566
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": false,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": true,
39
+ "isOpen": true,
40
+ "openness": 1.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": null,
47
+ "distance": 2.1215627193450928,
48
+ "objectType": "Doorway",
49
+ "objectId": "door|2|6",
50
+ "assetId": "Doorway_8",
51
+ "parentReceptacles": [
52
+ "Floor"
53
+ ],
54
+ "controlledObjects": null,
55
+ "isMoving": false,
56
+ "axisAlignedBoundingBox": {
57
+ "cornerPoints": [
58
+ [
59
+ 4.9760847091674805,
60
+ 2.0993974208831787,
61
+ 3.739671468734741
62
+ ],
63
+ [
64
+ 4.9760847091674805,
65
+ 2.0993974208831787,
66
+ 2.7530148029327393
67
+ ],
68
+ [
69
+ 4.9760847091674805,
70
+ 0.0,
71
+ 3.739671468734741
72
+ ],
73
+ [
74
+ 4.9760847091674805,
75
+ 0.0,
76
+ 2.7530148029327393
77
+ ],
78
+ [
79
+ 3.9121217727661133,
80
+ 2.0993974208831787,
81
+ 3.739671468734741
82
+ ],
83
+ [
84
+ 3.9121217727661133,
85
+ 2.0993974208831787,
86
+ 2.7530148029327393
87
+ ],
88
+ [
89
+ 3.9121217727661133,
90
+ 0.0,
91
+ 3.739671468734741
92
+ ],
93
+ [
94
+ 3.9121217727661133,
95
+ 0.0,
96
+ 2.7530148029327393
97
+ ]
98
+ ],
99
+ "center": {
100
+ "x": 4.444103240966797,
101
+ "y": 1.0496987104415894,
102
+ "z": 3.2463431358337402
103
+ },
104
+ "size": {
105
+ "x": 1.0639629364013672,
106
+ "y": 2.0993974208831787,
107
+ "z": 0.986656665802002
108
+ }
109
+ },
110
+ "objectOrientedBoundingBox": null
111
+ }
112
+ },
113
+ {
114
+ "objectId": "ArmChair|2|2|0",
115
+ "object_info": {
116
+ "name": "ArmChair|2|2|0",
117
+ "position": {
118
+ "x": 1.433853030204773,
119
+ "y": -5.155801773071289e-06,
120
+ "z": 3.2342398166656494
121
+ },
122
+ "rotation": {
123
+ "x": 0.0,
124
+ "y": 180.0,
125
+ "z": 0.0
126
+ },
127
+ "visible": false,
128
+ "isInteractable": false,
129
+ "receptacle": true,
130
+ "toggleable": false,
131
+ "isToggled": false,
132
+ "breakable": false,
133
+ "isBroken": false,
134
+ "canFillWithLiquid": false,
135
+ "isFilledWithLiquid": false,
136
+ "fillLiquid": null,
137
+ "dirtyable": false,
138
+ "isDirty": false,
139
+ "canBeUsedUp": false,
140
+ "isUsedUp": false,
141
+ "cookable": false,
142
+ "isCooked": false,
143
+ "temperature": "RoomTemp",
144
+ "isHeatSource": false,
145
+ "isColdSource": false,
146
+ "sliceable": false,
147
+ "isSliced": false,
148
+ "openable": false,
149
+ "isOpen": false,
150
+ "openness": 0.0,
151
+ "pickupable": false,
152
+ "isPickedUp": false,
153
+ "moveable": true,
154
+ "mass": 28.299999237060547,
155
+ "salientMaterials": [
156
+ "Fabric"
157
+ ],
158
+ "receptacleObjectIds": [],
159
+ "distance": 3.966381311416626,
160
+ "objectType": "ArmChair",
161
+ "objectId": "ArmChair|2|2|0",
162
+ "assetId": "RoboTHOR_armchair_ektorp",
163
+ "parentReceptacles": [
164
+ "Floor"
165
+ ],
166
+ "controlledObjects": null,
167
+ "isMoving": false,
168
+ "axisAlignedBoundingBox": {
169
+ "cornerPoints": [
170
+ [
171
+ 1.917144775390625,
172
+ 0.8387728929519653,
173
+ 3.645007610321045
174
+ ],
175
+ [
176
+ 1.917144775390625,
177
+ 0.8387728929519653,
178
+ 2.793361186981201
179
+ ],
180
+ [
181
+ 1.917144775390625,
182
+ -5.364418029785156e-06,
183
+ 3.645007610321045
184
+ ],
185
+ [
186
+ 1.917144775390625,
187
+ -5.364418029785156e-06,
188
+ 2.793361186981201
189
+ ],
190
+ [
191
+ 0.9460439682006836,
192
+ 0.8387728929519653,
193
+ 3.645007610321045
194
+ ],
195
+ [
196
+ 0.9460439682006836,
197
+ 0.8387728929519653,
198
+ 2.793361186981201
199
+ ],
200
+ [
201
+ 0.9460439682006836,
202
+ -5.364418029785156e-06,
203
+ 3.645007610321045
204
+ ],
205
+ [
206
+ 0.9460439682006836,
207
+ -5.364418029785156e-06,
208
+ 2.793361186981201
209
+ ]
210
+ ],
211
+ "center": {
212
+ "x": 1.4315943717956543,
213
+ "y": 0.4193837642669678,
214
+ "z": 3.219184398651123
215
+ },
216
+ "size": {
217
+ "x": 0.9711008071899414,
218
+ "y": 0.8387782573699951,
219
+ "z": 0.8516464233398438
220
+ }
221
+ },
222
+ "objectOrientedBoundingBox": {
223
+ "cornerPoints": [
224
+ [
225
+ 0.9460440874099731,
226
+ -5.155801773071289e-06,
227
+ 2.7933616638183594
228
+ ],
229
+ [
230
+ 1.917144775390625,
231
+ -5.155801773071289e-06,
232
+ 2.7933616638183594
233
+ ],
234
+ [
235
+ 1.917144775390625,
236
+ -5.155801773071289e-06,
237
+ 3.645007371902466
238
+ ],
239
+ [
240
+ 0.9460440874099731,
241
+ -5.155801773071289e-06,
242
+ 3.645007371902466
243
+ ],
244
+ [
245
+ 0.9460440874099731,
246
+ 0.8387726545333862,
247
+ 2.7933616638183594
248
+ ],
249
+ [
250
+ 1.917144775390625,
251
+ 0.8387726545333862,
252
+ 2.7933616638183594
253
+ ],
254
+ [
255
+ 1.917144775390625,
256
+ 0.8387726545333862,
257
+ 3.645007371902466
258
+ ],
259
+ [
260
+ 0.9460440874099731,
261
+ 0.8387726545333862,
262
+ 3.645007371902466
263
+ ]
264
+ ]
265
+ }
266
+ }
267
+ },
268
+ {
269
+ "objectId": "door|6|7",
270
+ "object_info": {
271
+ "name": "door|6|7",
272
+ "position": {
273
+ "x": 3.669950008392334,
274
+ "y": -0.0005983114242553711,
275
+ "z": 6.7994818687438965
276
+ },
277
+ "rotation": {
278
+ "x": -0.0,
279
+ "y": 270.0,
280
+ "z": 0.0
281
+ },
282
+ "visible": false,
283
+ "isInteractable": false,
284
+ "receptacle": false,
285
+ "toggleable": false,
286
+ "isToggled": false,
287
+ "breakable": false,
288
+ "isBroken": false,
289
+ "canFillWithLiquid": false,
290
+ "isFilledWithLiquid": false,
291
+ "fillLiquid": null,
292
+ "dirtyable": false,
293
+ "isDirty": false,
294
+ "canBeUsedUp": false,
295
+ "isUsedUp": false,
296
+ "cookable": false,
297
+ "isCooked": false,
298
+ "temperature": "RoomTemp",
299
+ "isHeatSource": false,
300
+ "isColdSource": false,
301
+ "sliceable": false,
302
+ "isSliced": false,
303
+ "openable": true,
304
+ "isOpen": true,
305
+ "openness": 1.0,
306
+ "pickupable": false,
307
+ "isPickedUp": false,
308
+ "moveable": false,
309
+ "mass": 0.0,
310
+ "salientMaterials": null,
311
+ "receptacleObjectIds": null,
312
+ "distance": 5.29897928237915,
313
+ "objectType": "Doorway",
314
+ "objectId": "door|6|7",
315
+ "assetId": "Doorway_8",
316
+ "parentReceptacles": [
317
+ "Floor"
318
+ ],
319
+ "controlledObjects": null,
320
+ "isMoving": false,
321
+ "axisAlignedBoundingBox": {
322
+ "cornerPoints": [
323
+ [
324
+ 4.586986064910889,
325
+ 2.099397897720337,
326
+ 6.815023422241211
327
+ ],
328
+ [
329
+ 4.586986064910889,
330
+ 2.099397897720337,
331
+ 5.751060485839844
332
+ ],
333
+ [
334
+ 4.586986064910889,
335
+ 0.0,
336
+ 6.815023422241211
337
+ ],
338
+ [
339
+ 4.586986064910889,
340
+ 0.0,
341
+ 5.751060485839844
342
+ ],
343
+ [
344
+ 3.6003289222717285,
345
+ 2.099397897720337,
346
+ 6.815023422241211
347
+ ],
348
+ [
349
+ 3.6003289222717285,
350
+ 2.099397897720337,
351
+ 5.751060485839844
352
+ ],
353
+ [
354
+ 3.6003289222717285,
355
+ 0.0,
356
+ 6.815023422241211
357
+ ],
358
+ [
359
+ 3.6003289222717285,
360
+ 0.0,
361
+ 5.751060485839844
362
+ ]
363
+ ],
364
+ "center": {
365
+ "x": 4.093657493591309,
366
+ "y": 1.0496989488601685,
367
+ "z": 6.283041954040527
368
+ },
369
+ "size": {
370
+ "x": 0.9866571426391602,
371
+ "y": 2.099397897720337,
372
+ "z": 1.0639629364013672
373
+ }
374
+ },
375
+ "objectOrientedBoundingBox": null
376
+ }
377
+ },
378
+ {
379
+ "objectId": "Painting|7|5",
380
+ "object_info": {
381
+ "name": "Painting|7|5",
382
+ "position": {
383
+ "x": 2.7768619060516357,
384
+ "y": 1.592955470085144,
385
+ "z": 9.167393684387207
386
+ },
387
+ "rotation": {
388
+ "x": 0.0,
389
+ "y": 180.0,
390
+ "z": 0.0
391
+ },
392
+ "visible": false,
393
+ "isInteractable": false,
394
+ "receptacle": false,
395
+ "toggleable": false,
396
+ "isToggled": false,
397
+ "breakable": false,
398
+ "isBroken": false,
399
+ "canFillWithLiquid": false,
400
+ "isFilledWithLiquid": false,
401
+ "fillLiquid": null,
402
+ "dirtyable": false,
403
+ "isDirty": false,
404
+ "canBeUsedUp": false,
405
+ "isUsedUp": false,
406
+ "cookable": false,
407
+ "isCooked": false,
408
+ "temperature": "RoomTemp",
409
+ "isHeatSource": false,
410
+ "isColdSource": false,
411
+ "sliceable": false,
412
+ "isSliced": false,
413
+ "openable": false,
414
+ "isOpen": false,
415
+ "openness": 0.0,
416
+ "pickupable": false,
417
+ "isPickedUp": false,
418
+ "moveable": false,
419
+ "mass": 1.0,
420
+ "salientMaterials": [
421
+ "Paper",
422
+ "Plastic"
423
+ ],
424
+ "receptacleObjectIds": null,
425
+ "distance": 7.77424430847168,
426
+ "objectType": "Painting",
427
+ "objectId": "Painting|7|5",
428
+ "assetId": "Wall_Decor_Photo_7",
429
+ "parentReceptacles": null,
430
+ "controlledObjects": null,
431
+ "isMoving": false,
432
+ "axisAlignedBoundingBox": {
433
+ "cornerPoints": [
434
+ [
435
+ 3.244995355606079,
436
+ 1.9147322177886963,
437
+ 9.169000625610352
438
+ ],
439
+ [
440
+ 3.244995355606079,
441
+ 1.9147322177886963,
442
+ 9.141572952270508
443
+ ],
444
+ [
445
+ 3.244995355606079,
446
+ 1.2742054462432861,
447
+ 9.169000625610352
448
+ ],
449
+ [
450
+ 3.244995355606079,
451
+ 1.2742054462432861,
452
+ 9.141572952270508
453
+ ],
454
+ [
455
+ 2.3087284564971924,
456
+ 1.9147322177886963,
457
+ 9.169000625610352
458
+ ],
459
+ [
460
+ 2.3087284564971924,
461
+ 1.9147322177886963,
462
+ 9.141572952270508
463
+ ],
464
+ [
465
+ 2.3087284564971924,
466
+ 1.2742054462432861,
467
+ 9.169000625610352
468
+ ],
469
+ [
470
+ 2.3087284564971924,
471
+ 1.2742054462432861,
472
+ 9.141572952270508
473
+ ]
474
+ ],
475
+ "center": {
476
+ "x": 2.7768619060516357,
477
+ "y": 1.5944688320159912,
478
+ "z": 9.15528678894043
479
+ },
480
+ "size": {
481
+ "x": 0.9362668991088867,
482
+ "y": 0.6405267715454102,
483
+ "z": 0.02742767333984375
484
+ }
485
+ },
486
+ "objectOrientedBoundingBox": null
487
+ }
488
+ }
489
+ ],
490
+ "Agent": {
491
+ "agent_position": {
492
+ "x": 4.800000190734863,
493
+ "y": 0.9009997844696045,
494
+ "z": 2.0
495
+ },
496
+ "agent_rotation": {
497
+ "x": -0.0,
498
+ "y": 0.0,
499
+ "z": 0.0
500
+ },
501
+ "agent_cameraHorizon": 30.000003814697266,
502
+ "agent_isStanding": true,
503
+ "agent_inHighFrictionArea": false
504
+ },
505
+ "camera_info": {
506
+ "cameraPosition": {
507
+ "x": 4.800000190734863,
508
+ "y": 1.5759997367858887,
509
+ "z": 2.0
510
+ },
511
+ "cameraOrthSize": -1.0,
512
+ "fov": 90.0
513
+ },
514
+ "common_object": [
515
+ "ArmChair|2|2|0",
516
+ "door|2|6"
517
+ ],
518
+ "different_object": [
519
+ "door|6|7",
520
+ "Painting|7|5"
521
+ ]
522
+ }
train/train1266/2/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c2ddd1feb117210b56c7d819e63774300b2200be4e39810abbf013cff9e5eb6
3
+ size 3145856
train/train1266/2/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26a4ece46544fcd1ec25015fa069f416c8ffc52acd8954b0ea8b6046e7c085c2
3
+ size 2359424
train/train1266/2/1.json ADDED
@@ -0,0 +1,1422 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "door|2|6",
5
+ "object_info": {
6
+ "name": "door|2|6",
7
+ "position": {
8
+ "x": 4.960543155670166,
9
+ "y": -0.0005983114242553711,
10
+ "z": 3.6700501441955566
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": false,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": true,
39
+ "isOpen": true,
40
+ "openness": 1.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": null,
47
+ "distance": 2.1215627193450928,
48
+ "objectType": "Doorway",
49
+ "objectId": "door|2|6",
50
+ "assetId": "Doorway_8",
51
+ "parentReceptacles": [
52
+ "Floor"
53
+ ],
54
+ "controlledObjects": null,
55
+ "isMoving": false,
56
+ "axisAlignedBoundingBox": {
57
+ "cornerPoints": [
58
+ [
59
+ 4.9760847091674805,
60
+ 2.0993974208831787,
61
+ 3.739671468734741
62
+ ],
63
+ [
64
+ 4.9760847091674805,
65
+ 2.0993974208831787,
66
+ 2.7530148029327393
67
+ ],
68
+ [
69
+ 4.9760847091674805,
70
+ 0.0,
71
+ 3.739671468734741
72
+ ],
73
+ [
74
+ 4.9760847091674805,
75
+ 0.0,
76
+ 2.7530148029327393
77
+ ],
78
+ [
79
+ 3.9121217727661133,
80
+ 2.0993974208831787,
81
+ 3.739671468734741
82
+ ],
83
+ [
84
+ 3.9121217727661133,
85
+ 2.0993974208831787,
86
+ 2.7530148029327393
87
+ ],
88
+ [
89
+ 3.9121217727661133,
90
+ 0.0,
91
+ 3.739671468734741
92
+ ],
93
+ [
94
+ 3.9121217727661133,
95
+ 0.0,
96
+ 2.7530148029327393
97
+ ]
98
+ ],
99
+ "center": {
100
+ "x": 4.444103240966797,
101
+ "y": 1.0496987104415894,
102
+ "z": 3.2463431358337402
103
+ },
104
+ "size": {
105
+ "x": 1.0639629364013672,
106
+ "y": 2.0993974208831787,
107
+ "z": 0.986656665802002
108
+ }
109
+ },
110
+ "objectOrientedBoundingBox": null
111
+ }
112
+ },
113
+ {
114
+ "objectId": "Bed|2|0|0",
115
+ "object_info": {
116
+ "name": "Bed|2|0|0",
117
+ "position": {
118
+ "x": 1.0386500358581543,
119
+ "y": -0.0012215971946716309,
120
+ "z": 0.7582886815071106
121
+ },
122
+ "rotation": {
123
+ "x": -0.0,
124
+ "y": 90.0,
125
+ "z": -0.0
126
+ },
127
+ "visible": false,
128
+ "isInteractable": false,
129
+ "receptacle": true,
130
+ "toggleable": false,
131
+ "isToggled": false,
132
+ "breakable": false,
133
+ "isBroken": false,
134
+ "canFillWithLiquid": false,
135
+ "isFilledWithLiquid": false,
136
+ "fillLiquid": null,
137
+ "dirtyable": true,
138
+ "isDirty": true,
139
+ "canBeUsedUp": false,
140
+ "isUsedUp": false,
141
+ "cookable": false,
142
+ "isCooked": false,
143
+ "temperature": "RoomTemp",
144
+ "isHeatSource": false,
145
+ "isColdSource": false,
146
+ "sliceable": false,
147
+ "isSliced": false,
148
+ "openable": false,
149
+ "isOpen": false,
150
+ "openness": 0.0,
151
+ "pickupable": false,
152
+ "isPickedUp": false,
153
+ "moveable": true,
154
+ "mass": 29.999998092651367,
155
+ "salientMaterials": [
156
+ "Wood",
157
+ "Fabric"
158
+ ],
159
+ "receptacleObjectIds": [
160
+ "Laptop|surface|2|27",
161
+ "Pillow|2|0|1",
162
+ "Pillow|2|0|2"
163
+ ],
164
+ "distance": 4.182079315185547,
165
+ "objectType": "Bed",
166
+ "objectId": "Bed|2|0|0",
167
+ "assetId": "Bed_1",
168
+ "parentReceptacles": [
169
+ "Floor"
170
+ ],
171
+ "controlledObjects": null,
172
+ "isMoving": false,
173
+ "axisAlignedBoundingBox": {
174
+ "cornerPoints": [
175
+ [
176
+ 2.0997321605682373,
177
+ 0.9101964235305786,
178
+ 1.4917998313903809
179
+ ],
180
+ [
181
+ 2.0997321605682373,
182
+ 0.9101964235305786,
183
+ 0.024999797344207764
184
+ ],
185
+ [
186
+ 2.0997321605682373,
187
+ 0.0,
188
+ 1.4917998313903809
189
+ ],
190
+ [
191
+ 2.0997321605682373,
192
+ 0.0,
193
+ 0.024999797344207764
194
+ ],
195
+ [
196
+ 0.024999618530273438,
197
+ 0.9101964235305786,
198
+ 1.4917998313903809
199
+ ],
200
+ [
201
+ 0.024999618530273438,
202
+ 0.9101964235305786,
203
+ 0.024999797344207764
204
+ ],
205
+ [
206
+ 0.024999618530273438,
207
+ 0.0,
208
+ 1.4917998313903809
209
+ ],
210
+ [
211
+ 0.024999618530273438,
212
+ 0.0,
213
+ 0.024999797344207764
214
+ ]
215
+ ],
216
+ "center": {
217
+ "x": 1.0623658895492554,
218
+ "y": 0.4550982117652893,
219
+ "z": 0.7583997845649719
220
+ },
221
+ "size": {
222
+ "x": 2.074732542037964,
223
+ "y": 0.9101964235305786,
224
+ "z": 1.4667999744415283
225
+ }
226
+ },
227
+ "objectOrientedBoundingBox": {
228
+ "cornerPoints": [
229
+ [
230
+ 2.0997323989868164,
231
+ 0.0,
232
+ 0.024999797344207764
233
+ ],
234
+ [
235
+ 2.0997323989868164,
236
+ 0.0,
237
+ 1.4917998313903809
238
+ ],
239
+ [
240
+ 0.02499985694885254,
241
+ 0.0,
242
+ 1.49180006980896
243
+ ],
244
+ [
245
+ 0.02499985694885254,
246
+ 0.0,
247
+ 0.025000035762786865
248
+ ],
249
+ [
250
+ 2.0997323989868164,
251
+ 0.9101961851119995,
252
+ 0.024999797344207764
253
+ ],
254
+ [
255
+ 2.0997323989868164,
256
+ 0.9101961851119995,
257
+ 1.4917998313903809
258
+ ],
259
+ [
260
+ 0.02499985694885254,
261
+ 0.9101961851119995,
262
+ 1.49180006980896
263
+ ],
264
+ [
265
+ 0.02499985694885254,
266
+ 0.9101961851119995,
267
+ 0.025000035762786865
268
+ ]
269
+ ]
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "objectId": "Pillow|2|0|2",
275
+ "object_info": {
276
+ "name": "Pillow|2|0|2",
277
+ "position": {
278
+ "x": 0.4390791952610016,
279
+ "y": 0.6287629008293152,
280
+ "z": 0.4103569984436035
281
+ },
282
+ "rotation": {
283
+ "x": 3.0597493605455384e-05,
284
+ "y": 90.00000762939453,
285
+ "z": -2.431999564578291e-05
286
+ },
287
+ "visible": false,
288
+ "isInteractable": false,
289
+ "receptacle": false,
290
+ "toggleable": false,
291
+ "isToggled": false,
292
+ "breakable": false,
293
+ "isBroken": false,
294
+ "canFillWithLiquid": false,
295
+ "isFilledWithLiquid": false,
296
+ "fillLiquid": null,
297
+ "dirtyable": false,
298
+ "isDirty": false,
299
+ "canBeUsedUp": false,
300
+ "isUsedUp": false,
301
+ "cookable": false,
302
+ "isCooked": false,
303
+ "temperature": "RoomTemp",
304
+ "isHeatSource": false,
305
+ "isColdSource": false,
306
+ "sliceable": false,
307
+ "isSliced": false,
308
+ "openable": false,
309
+ "isOpen": false,
310
+ "openness": 0.0,
311
+ "pickupable": true,
312
+ "isPickedUp": false,
313
+ "moveable": false,
314
+ "mass": 0.699999988079071,
315
+ "salientMaterials": [
316
+ "Fabric"
317
+ ],
318
+ "receptacleObjectIds": null,
319
+ "distance": 4.76138162612915,
320
+ "objectType": "Pillow",
321
+ "objectId": "Pillow|2|0|2",
322
+ "assetId": "pillow_2",
323
+ "parentReceptacles": [
324
+ "Bed|2|0|0",
325
+ "Floor"
326
+ ],
327
+ "controlledObjects": null,
328
+ "isMoving": false,
329
+ "axisAlignedBoundingBox": {
330
+ "cornerPoints": [
331
+ [
332
+ 0.6102478504180908,
333
+ 0.6831883788108826,
334
+ 0.7083998918533325
335
+ ],
336
+ [
337
+ 0.6102478504180908,
338
+ 0.6831883788108826,
339
+ 0.11231410503387451
340
+ ],
341
+ [
342
+ 0.6102478504180908,
343
+ 0.5547782778739929,
344
+ 0.7083998918533325
345
+ ],
346
+ [
347
+ 0.6102478504180908,
348
+ 0.5547782778739929,
349
+ 0.11231410503387451
350
+ ],
351
+ [
352
+ 0.27499985694885254,
353
+ 0.6831883788108826,
354
+ 0.7083998918533325
355
+ ],
356
+ [
357
+ 0.27499985694885254,
358
+ 0.6831883788108826,
359
+ 0.11231410503387451
360
+ ],
361
+ [
362
+ 0.27499985694885254,
363
+ 0.5547782778739929,
364
+ 0.7083998918533325
365
+ ],
366
+ [
367
+ 0.27499985694885254,
368
+ 0.5547782778739929,
369
+ 0.11231410503387451
370
+ ]
371
+ ],
372
+ "center": {
373
+ "x": 0.4426238536834717,
374
+ "y": 0.6189833283424377,
375
+ "z": 0.4103569984436035
376
+ },
377
+ "size": {
378
+ "x": 0.3352479934692383,
379
+ "y": 0.12841010093688965,
380
+ "z": 0.596085786819458
381
+ }
382
+ },
383
+ "objectOrientedBoundingBox": {
384
+ "cornerPoints": [
385
+ [
386
+ 0.6102476119995117,
387
+ 0.5547782778739929,
388
+ 0.11231410503387451
389
+ ],
390
+ [
391
+ 0.6102478504180908,
392
+ 0.554778516292572,
393
+ 0.7083998322486877
394
+ ],
395
+ [
396
+ 0.2749999463558197,
397
+ 0.5547786951065063,
398
+ 0.7083999514579773
399
+ ],
400
+ [
401
+ 0.2749997079372406,
402
+ 0.5547784566879272,
403
+ 0.11231422424316406
404
+ ],
405
+ [
406
+ 0.6102476716041565,
407
+ 0.6831879019737244,
408
+ 0.11231404542922974
409
+ ],
410
+ [
411
+ 0.6102479100227356,
412
+ 0.6831881403923035,
413
+ 0.708399772644043
414
+ ],
415
+ [
416
+ 0.27500003576278687,
417
+ 0.6831883192062378,
418
+ 0.7083998918533325
419
+ ],
420
+ [
421
+ 0.27499979734420776,
422
+ 0.6831880807876587,
423
+ 0.11231416463851929
424
+ ]
425
+ ]
426
+ }
427
+ }
428
+ },
429
+ {
430
+ "objectId": "Painting|2|5",
431
+ "object_info": {
432
+ "name": "Painting|2|5",
433
+ "position": {
434
+ "x": 1.325247049331665,
435
+ "y": 1.9049873352050781,
436
+ "z": 0.0035572582855820656
437
+ },
438
+ "rotation": {
439
+ "x": -0.0,
440
+ "y": 0.0,
441
+ "z": 0.0
442
+ },
443
+ "visible": false,
444
+ "isInteractable": false,
445
+ "receptacle": false,
446
+ "toggleable": false,
447
+ "isToggled": false,
448
+ "breakable": false,
449
+ "isBroken": false,
450
+ "canFillWithLiquid": false,
451
+ "isFilledWithLiquid": false,
452
+ "fillLiquid": null,
453
+ "dirtyable": false,
454
+ "isDirty": false,
455
+ "canBeUsedUp": false,
456
+ "isUsedUp": false,
457
+ "cookable": false,
458
+ "isCooked": false,
459
+ "temperature": "RoomTemp",
460
+ "isHeatSource": false,
461
+ "isColdSource": false,
462
+ "sliceable": false,
463
+ "isSliced": false,
464
+ "openable": false,
465
+ "isOpen": false,
466
+ "openness": 0.0,
467
+ "pickupable": false,
468
+ "isPickedUp": false,
469
+ "moveable": false,
470
+ "mass": 1.0,
471
+ "salientMaterials": [
472
+ "Paper",
473
+ "Plastic"
474
+ ],
475
+ "receptacleObjectIds": null,
476
+ "distance": 4.190687656402588,
477
+ "objectType": "Painting",
478
+ "objectId": "Painting|2|5",
479
+ "assetId": "Wall_Decor_Painting_3",
480
+ "parentReceptacles": null,
481
+ "controlledObjects": null,
482
+ "isMoving": false,
483
+ "axisAlignedBoundingBox": {
484
+ "cornerPoints": [
485
+ [
486
+ 1.7273762226104736,
487
+ 2.21034574508667,
488
+ 0.02434924803674221
489
+ ],
490
+ [
491
+ 1.7273762226104736,
492
+ 2.21034574508667,
493
+ 0.004999998956918716
494
+ ],
495
+ [
496
+ 1.7273762226104736,
497
+ 1.59721040725708,
498
+ 0.02434924803674221
499
+ ],
500
+ [
501
+ 1.7273762226104736,
502
+ 1.59721040725708,
503
+ 0.004999998956918716
504
+ ],
505
+ [
506
+ 0.9216938018798828,
507
+ 2.21034574508667,
508
+ 0.02434924803674221
509
+ ],
510
+ [
511
+ 0.9216938018798828,
512
+ 2.21034574508667,
513
+ 0.004999998956918716
514
+ ],
515
+ [
516
+ 0.9216938018798828,
517
+ 1.59721040725708,
518
+ 0.02434924803674221
519
+ ],
520
+ [
521
+ 0.9216938018798828,
522
+ 1.59721040725708,
523
+ 0.004999998956918716
524
+ ]
525
+ ],
526
+ "center": {
527
+ "x": 1.3245350122451782,
528
+ "y": 1.903778076171875,
529
+ "z": 0.014674623496830463
530
+ },
531
+ "size": {
532
+ "x": 0.8056824207305908,
533
+ "y": 0.6131353378295898,
534
+ "z": 0.019349249079823494
535
+ }
536
+ },
537
+ "objectOrientedBoundingBox": null
538
+ }
539
+ },
540
+ {
541
+ "objectId": "FloorLamp|2|2|1",
542
+ "object_info": {
543
+ "name": "FloorLamp|2|2|1",
544
+ "position": {
545
+ "x": 0.3905828893184662,
546
+ "y": 0.0011206865310668945,
547
+ "z": 3.2199292182922363
548
+ },
549
+ "rotation": {
550
+ "x": 359.97076416015625,
551
+ "y": 324.8898620605469,
552
+ "z": 359.96331787109375
553
+ },
554
+ "visible": false,
555
+ "isInteractable": false,
556
+ "receptacle": false,
557
+ "toggleable": true,
558
+ "isToggled": false,
559
+ "breakable": false,
560
+ "isBroken": false,
561
+ "canFillWithLiquid": false,
562
+ "isFilledWithLiquid": false,
563
+ "fillLiquid": null,
564
+ "dirtyable": false,
565
+ "isDirty": false,
566
+ "canBeUsedUp": false,
567
+ "isUsedUp": false,
568
+ "cookable": false,
569
+ "isCooked": false,
570
+ "temperature": "RoomTemp",
571
+ "isHeatSource": false,
572
+ "isColdSource": false,
573
+ "sliceable": false,
574
+ "isSliced": false,
575
+ "openable": false,
576
+ "isOpen": false,
577
+ "openness": 0.0,
578
+ "pickupable": false,
579
+ "isPickedUp": false,
580
+ "moveable": true,
581
+ "mass": 3.9300003051757812,
582
+ "salientMaterials": [
583
+ "Metal"
584
+ ],
585
+ "receptacleObjectIds": null,
586
+ "distance": 4.921097278594971,
587
+ "objectType": "FloorLamp",
588
+ "objectId": "FloorLamp|2|2|1",
589
+ "assetId": "Floor_Lamp_3",
590
+ "parentReceptacles": [
591
+ "Floor"
592
+ ],
593
+ "controlledObjects": [],
594
+ "isMoving": false,
595
+ "axisAlignedBoundingBox": {
596
+ "cornerPoints": [
597
+ [
598
+ 0.6455289125442505,
599
+ 1.903533935546875,
600
+ 3.4941792488098145
601
+ ],
602
+ [
603
+ 0.6455289125442505,
604
+ 1.903533935546875,
605
+ 2.9444165229797363
606
+ ],
607
+ [
608
+ 0.6455289125442505,
609
+ 0.0,
610
+ 3.4941792488098145
611
+ ],
612
+ [
613
+ 0.6455289125442505,
614
+ 0.0,
615
+ 2.9444165229797363
616
+ ],
617
+ [
618
+ 0.13740435242652893,
619
+ 1.903533935546875,
620
+ 3.4941792488098145
621
+ ],
622
+ [
623
+ 0.13740435242652893,
624
+ 1.903533935546875,
625
+ 2.9444165229797363
626
+ ],
627
+ [
628
+ 0.13740435242652893,
629
+ 0.0,
630
+ 3.4941792488098145
631
+ ],
632
+ [
633
+ 0.13740435242652893,
634
+ 0.0,
635
+ 2.9444165229797363
636
+ ]
637
+ ],
638
+ "center": {
639
+ "x": 0.3914666473865509,
640
+ "y": 0.9517669677734375,
641
+ "z": 3.2192978858947754
642
+ },
643
+ "size": {
644
+ "x": 0.508124589920044,
645
+ "y": 1.903533935546875,
646
+ "z": 0.5497627258300781
647
+ }
648
+ },
649
+ "objectOrientedBoundingBox": {
650
+ "cornerPoints": [
651
+ [
652
+ 0.4756672978401184,
653
+ 0.00012994371354579926,
654
+ 3.5770134925842285
655
+ ],
656
+ [
657
+ 0.024999231100082397,
658
+ 0.0004827935481444001,
659
+ 3.2601592540740967
660
+ ],
661
+ [
662
+ 0.3053930997848511,
663
+ 0.0002340143546462059,
664
+ 2.861349105834961
665
+ ],
666
+ [
667
+ 0.7560611963272095,
668
+ -0.00011883547995239496,
669
+ 3.1782033443450928
670
+ ],
671
+ [
672
+ 0.47722309827804565,
673
+ 1.9033863544464111,
674
+ 3.5769200325012207
675
+ ],
676
+ [
677
+ 0.02655506134033203,
678
+ 1.903739094734192,
679
+ 3.260065793991089
680
+ ],
681
+ [
682
+ 0.3069489300251007,
683
+ 1.9034903049468994,
684
+ 2.861255645751953
685
+ ],
686
+ [
687
+ 0.7576169967651367,
688
+ 1.9031375646591187,
689
+ 3.178109884262085
690
+ ]
691
+ ]
692
+ }
693
+ }
694
+ },
695
+ {
696
+ "objectId": "ArmChair|2|2|0",
697
+ "object_info": {
698
+ "name": "ArmChair|2|2|0",
699
+ "position": {
700
+ "x": 1.433853030204773,
701
+ "y": -5.155801773071289e-06,
702
+ "z": 3.2342398166656494
703
+ },
704
+ "rotation": {
705
+ "x": 0.0,
706
+ "y": 180.0,
707
+ "z": 0.0
708
+ },
709
+ "visible": false,
710
+ "isInteractable": false,
711
+ "receptacle": true,
712
+ "toggleable": false,
713
+ "isToggled": false,
714
+ "breakable": false,
715
+ "isBroken": false,
716
+ "canFillWithLiquid": false,
717
+ "isFilledWithLiquid": false,
718
+ "fillLiquid": null,
719
+ "dirtyable": false,
720
+ "isDirty": false,
721
+ "canBeUsedUp": false,
722
+ "isUsedUp": false,
723
+ "cookable": false,
724
+ "isCooked": false,
725
+ "temperature": "RoomTemp",
726
+ "isHeatSource": false,
727
+ "isColdSource": false,
728
+ "sliceable": false,
729
+ "isSliced": false,
730
+ "openable": false,
731
+ "isOpen": false,
732
+ "openness": 0.0,
733
+ "pickupable": false,
734
+ "isPickedUp": false,
735
+ "moveable": true,
736
+ "mass": 28.299999237060547,
737
+ "salientMaterials": [
738
+ "Fabric"
739
+ ],
740
+ "receptacleObjectIds": [],
741
+ "distance": 3.966381311416626,
742
+ "objectType": "ArmChair",
743
+ "objectId": "ArmChair|2|2|0",
744
+ "assetId": "RoboTHOR_armchair_ektorp",
745
+ "parentReceptacles": [
746
+ "Floor"
747
+ ],
748
+ "controlledObjects": null,
749
+ "isMoving": false,
750
+ "axisAlignedBoundingBox": {
751
+ "cornerPoints": [
752
+ [
753
+ 1.917144775390625,
754
+ 0.8387728929519653,
755
+ 3.645007610321045
756
+ ],
757
+ [
758
+ 1.917144775390625,
759
+ 0.8387728929519653,
760
+ 2.793361186981201
761
+ ],
762
+ [
763
+ 1.917144775390625,
764
+ -5.364418029785156e-06,
765
+ 3.645007610321045
766
+ ],
767
+ [
768
+ 1.917144775390625,
769
+ -5.364418029785156e-06,
770
+ 2.793361186981201
771
+ ],
772
+ [
773
+ 0.9460439682006836,
774
+ 0.8387728929519653,
775
+ 3.645007610321045
776
+ ],
777
+ [
778
+ 0.9460439682006836,
779
+ 0.8387728929519653,
780
+ 2.793361186981201
781
+ ],
782
+ [
783
+ 0.9460439682006836,
784
+ -5.364418029785156e-06,
785
+ 3.645007610321045
786
+ ],
787
+ [
788
+ 0.9460439682006836,
789
+ -5.364418029785156e-06,
790
+ 2.793361186981201
791
+ ]
792
+ ],
793
+ "center": {
794
+ "x": 1.4315943717956543,
795
+ "y": 0.4193837642669678,
796
+ "z": 3.219184398651123
797
+ },
798
+ "size": {
799
+ "x": 0.9711008071899414,
800
+ "y": 0.8387782573699951,
801
+ "z": 0.8516464233398438
802
+ }
803
+ },
804
+ "objectOrientedBoundingBox": {
805
+ "cornerPoints": [
806
+ [
807
+ 0.9460440874099731,
808
+ -5.155801773071289e-06,
809
+ 2.7933616638183594
810
+ ],
811
+ [
812
+ 1.917144775390625,
813
+ -5.155801773071289e-06,
814
+ 2.7933616638183594
815
+ ],
816
+ [
817
+ 1.917144775390625,
818
+ -5.155801773071289e-06,
819
+ 3.645007371902466
820
+ ],
821
+ [
822
+ 0.9460440874099731,
823
+ -5.155801773071289e-06,
824
+ 3.645007371902466
825
+ ],
826
+ [
827
+ 0.9460440874099731,
828
+ 0.8387726545333862,
829
+ 2.7933616638183594
830
+ ],
831
+ [
832
+ 1.917144775390625,
833
+ 0.8387726545333862,
834
+ 2.7933616638183594
835
+ ],
836
+ [
837
+ 1.917144775390625,
838
+ 0.8387726545333862,
839
+ 3.645007371902466
840
+ ],
841
+ [
842
+ 0.9460440874099731,
843
+ 0.8387726545333862,
844
+ 3.645007371902466
845
+ ]
846
+ ]
847
+ }
848
+ }
849
+ },
850
+ {
851
+ "objectId": "Pillow|2|0|1",
852
+ "object_info": {
853
+ "name": "Pillow|2|0|1",
854
+ "position": {
855
+ "x": 0.439079225063324,
856
+ "y": 0.6287629008293152,
857
+ "z": 1.1064428091049194
858
+ },
859
+ "rotation": {
860
+ "x": 3.02101434499491e-05,
861
+ "y": 90.0,
862
+ "z": -2.3117441742215306e-05
863
+ },
864
+ "visible": false,
865
+ "isInteractable": false,
866
+ "receptacle": false,
867
+ "toggleable": false,
868
+ "isToggled": false,
869
+ "breakable": false,
870
+ "isBroken": false,
871
+ "canFillWithLiquid": false,
872
+ "isFilledWithLiquid": false,
873
+ "fillLiquid": null,
874
+ "dirtyable": false,
875
+ "isDirty": false,
876
+ "canBeUsedUp": false,
877
+ "isUsedUp": false,
878
+ "cookable": false,
879
+ "isCooked": false,
880
+ "temperature": "RoomTemp",
881
+ "isHeatSource": false,
882
+ "isColdSource": false,
883
+ "sliceable": false,
884
+ "isSliced": false,
885
+ "openable": false,
886
+ "isOpen": false,
887
+ "openness": 0.0,
888
+ "pickupable": true,
889
+ "isPickedUp": false,
890
+ "moveable": false,
891
+ "mass": 0.699999988079071,
892
+ "salientMaterials": [
893
+ "Fabric"
894
+ ],
895
+ "receptacleObjectIds": null,
896
+ "distance": 4.614138603210449,
897
+ "objectType": "Pillow",
898
+ "objectId": "Pillow|2|0|1",
899
+ "assetId": "pillow_2",
900
+ "parentReceptacles": [
901
+ "Bed|2|0|0",
902
+ "Floor"
903
+ ],
904
+ "controlledObjects": null,
905
+ "isMoving": false,
906
+ "axisAlignedBoundingBox": {
907
+ "cornerPoints": [
908
+ [
909
+ 0.6102478504180908,
910
+ 0.6831883788108826,
911
+ 1.4044857025146484
912
+ ],
913
+ [
914
+ 0.6102478504180908,
915
+ 0.6831883788108826,
916
+ 0.8083999156951904
917
+ ],
918
+ [
919
+ 0.6102478504180908,
920
+ 0.5547782778739929,
921
+ 1.4044857025146484
922
+ ],
923
+ [
924
+ 0.6102478504180908,
925
+ 0.5547782778739929,
926
+ 0.8083999156951904
927
+ ],
928
+ [
929
+ 0.27499985694885254,
930
+ 0.6831883788108826,
931
+ 1.4044857025146484
932
+ ],
933
+ [
934
+ 0.27499985694885254,
935
+ 0.6831883788108826,
936
+ 0.8083999156951904
937
+ ],
938
+ [
939
+ 0.27499985694885254,
940
+ 0.5547782778739929,
941
+ 1.4044857025146484
942
+ ],
943
+ [
944
+ 0.27499985694885254,
945
+ 0.5547782778739929,
946
+ 0.8083999156951904
947
+ ]
948
+ ],
949
+ "center": {
950
+ "x": 0.4426238536834717,
951
+ "y": 0.6189833283424377,
952
+ "z": 1.1064428091049194
953
+ },
954
+ "size": {
955
+ "x": 0.3352479934692383,
956
+ "y": 0.12841010093688965,
957
+ "z": 0.596085786819458
958
+ }
959
+ },
960
+ "objectOrientedBoundingBox": {
961
+ "cornerPoints": [
962
+ [
963
+ 0.6102477312088013,
964
+ 0.5547782778739929,
965
+ 0.8083999752998352
966
+ ],
967
+ [
968
+ 0.610247790813446,
969
+ 0.554778516292572,
970
+ 1.4044857025146484
971
+ ],
972
+ [
973
+ 0.2749998867511749,
974
+ 0.5547786951065063,
975
+ 1.4044857025146484
976
+ ],
977
+ [
978
+ 0.27499982714653015,
979
+ 0.5547784566879272,
980
+ 0.8083999752998352
981
+ ],
982
+ [
983
+ 0.610247790813446,
984
+ 0.6831879019737244,
985
+ 0.8083999156951904
986
+ ],
987
+ [
988
+ 0.6102478504180908,
989
+ 0.6831881403923035,
990
+ 1.4044857025146484
991
+ ],
992
+ [
993
+ 0.2749999761581421,
994
+ 0.6831883192062378,
995
+ 1.4044857025146484
996
+ ],
997
+ [
998
+ 0.2749999165534973,
999
+ 0.6831880807876587,
1000
+ 0.8083999156951904
1001
+ ]
1002
+ ]
1003
+ }
1004
+ }
1005
+ },
1006
+ {
1007
+ "objectId": "Laptop|surface|2|27",
1008
+ "object_info": {
1009
+ "name": "Laptop|surface|2|27",
1010
+ "position": {
1011
+ "x": 1.795939564704895,
1012
+ "y": 0.5547783970832825,
1013
+ "z": 1.109070062637329
1014
+ },
1015
+ "rotation": {
1016
+ "x": 4.702925434685312e-05,
1017
+ "y": 270.0001220703125,
1018
+ "z": -6.529131496790797e-05
1019
+ },
1020
+ "visible": false,
1021
+ "isInteractable": false,
1022
+ "receptacle": false,
1023
+ "toggleable": true,
1024
+ "isToggled": false,
1025
+ "breakable": true,
1026
+ "isBroken": false,
1027
+ "canFillWithLiquid": false,
1028
+ "isFilledWithLiquid": false,
1029
+ "fillLiquid": null,
1030
+ "dirtyable": false,
1031
+ "isDirty": false,
1032
+ "canBeUsedUp": false,
1033
+ "isUsedUp": false,
1034
+ "cookable": false,
1035
+ "isCooked": false,
1036
+ "temperature": "RoomTemp",
1037
+ "isHeatSource": false,
1038
+ "isColdSource": false,
1039
+ "sliceable": false,
1040
+ "isSliced": false,
1041
+ "openable": true,
1042
+ "isOpen": false,
1043
+ "openness": 0.0,
1044
+ "pickupable": true,
1045
+ "isPickedUp": false,
1046
+ "moveable": false,
1047
+ "mass": 2.299999952316284,
1048
+ "salientMaterials": [
1049
+ "Metal",
1050
+ "Plastic",
1051
+ "Glass"
1052
+ ],
1053
+ "receptacleObjectIds": null,
1054
+ "distance": 3.285827875137329,
1055
+ "objectType": "Laptop",
1056
+ "objectId": "Laptop|surface|2|27",
1057
+ "assetId": "Laptop_14",
1058
+ "parentReceptacles": [
1059
+ "Bed|2|0|0",
1060
+ "Floor"
1061
+ ],
1062
+ "controlledObjects": [],
1063
+ "isMoving": false,
1064
+ "axisAlignedBoundingBox": {
1065
+ "cornerPoints": [
1066
+ [
1067
+ 1.9401884078979492,
1068
+ 0.5945297479629517,
1069
+ 1.3493633270263672
1070
+ ],
1071
+ [
1072
+ 1.9401884078979492,
1073
+ 0.5945297479629517,
1074
+ 0.868776798248291
1075
+ ],
1076
+ [
1077
+ 1.9401884078979492,
1078
+ 0.554777979850769,
1079
+ 1.3493633270263672
1080
+ ],
1081
+ [
1082
+ 1.9401884078979492,
1083
+ 0.554777979850769,
1084
+ 0.868776798248291
1085
+ ],
1086
+ [
1087
+ 1.650749683380127,
1088
+ 0.5945297479629517,
1089
+ 1.3493633270263672
1090
+ ],
1091
+ [
1092
+ 1.650749683380127,
1093
+ 0.5945297479629517,
1094
+ 0.868776798248291
1095
+ ],
1096
+ [
1097
+ 1.650749683380127,
1098
+ 0.554777979850769,
1099
+ 1.3493633270263672
1100
+ ],
1101
+ [
1102
+ 1.650749683380127,
1103
+ 0.554777979850769,
1104
+ 0.868776798248291
1105
+ ]
1106
+ ],
1107
+ "center": {
1108
+ "x": 1.795469045639038,
1109
+ "y": 0.5746538639068604,
1110
+ "z": 1.109070062637329
1111
+ },
1112
+ "size": {
1113
+ "x": 0.28943872451782227,
1114
+ "y": 0.03975176811218262,
1115
+ "z": 0.48058652877807617
1116
+ }
1117
+ },
1118
+ "objectOrientedBoundingBox": {
1119
+ "cornerPoints": [
1120
+ [
1121
+ 1.650750756263733,
1122
+ 0.554777979850769,
1123
+ 1.3493634462356567
1124
+ ],
1125
+ [
1126
+ 1.650749683380127,
1127
+ 0.554778516292572,
1128
+ 0.8687773942947388
1129
+ ],
1130
+ [
1131
+ 1.9401873350143433,
1132
+ 0.5547787547111511,
1133
+ 0.8687766790390015
1134
+ ],
1135
+ [
1136
+ 1.9401884078979492,
1137
+ 0.5547782182693481,
1138
+ 1.3493627309799194
1139
+ ],
1140
+ [
1141
+ 1.650750756263733,
1142
+ 0.5945289731025696,
1143
+ 1.3493634462356567
1144
+ ],
1145
+ [
1146
+ 1.650749683380127,
1147
+ 0.5945295095443726,
1148
+ 0.8687773942947388
1149
+ ],
1150
+ [
1151
+ 1.9401872158050537,
1152
+ 0.5945297479629517,
1153
+ 0.8687767386436462
1154
+ ],
1155
+ [
1156
+ 1.9401884078979492,
1157
+ 0.5945292115211487,
1158
+ 1.349362850189209
1159
+ ]
1160
+ ]
1161
+ }
1162
+ }
1163
+ },
1164
+ {
1165
+ "objectId": "Painting|2|4",
1166
+ "object_info": {
1167
+ "name": "Painting|2|4",
1168
+ "position": {
1169
+ "x": 0.4394533038139343,
1170
+ "y": 1.8532931804656982,
1171
+ "z": 0.004995772615075111
1172
+ },
1173
+ "rotation": {
1174
+ "x": -0.0,
1175
+ "y": 0.0,
1176
+ "z": 0.0
1177
+ },
1178
+ "visible": false,
1179
+ "isInteractable": false,
1180
+ "receptacle": false,
1181
+ "toggleable": false,
1182
+ "isToggled": false,
1183
+ "breakable": false,
1184
+ "isBroken": false,
1185
+ "canFillWithLiquid": false,
1186
+ "isFilledWithLiquid": false,
1187
+ "fillLiquid": null,
1188
+ "dirtyable": false,
1189
+ "isDirty": false,
1190
+ "canBeUsedUp": false,
1191
+ "isUsedUp": false,
1192
+ "cookable": false,
1193
+ "isCooked": false,
1194
+ "temperature": "RoomTemp",
1195
+ "isHeatSource": false,
1196
+ "isColdSource": false,
1197
+ "sliceable": false,
1198
+ "isSliced": false,
1199
+ "openable": false,
1200
+ "isOpen": false,
1201
+ "openness": 0.0,
1202
+ "pickupable": false,
1203
+ "isPickedUp": false,
1204
+ "moveable": false,
1205
+ "mass": 1.0,
1206
+ "salientMaterials": [
1207
+ "Paper",
1208
+ "Plastic"
1209
+ ],
1210
+ "receptacleObjectIds": null,
1211
+ "distance": 4.974986553192139,
1212
+ "objectType": "Painting",
1213
+ "objectId": "Painting|2|4",
1214
+ "assetId": "Wall_Decor_Photo_3",
1215
+ "parentReceptacles": null,
1216
+ "controlledObjects": null,
1217
+ "isMoving": false,
1218
+ "axisAlignedBoundingBox": {
1219
+ "cornerPoints": [
1220
+ [
1221
+ 0.8435558080673218,
1222
+ 2.1412551403045654,
1223
+ 0.036740973591804504
1224
+ ],
1225
+ [
1226
+ 0.8435558080673218,
1227
+ 2.1412551403045654,
1228
+ 0.005000002682209015
1229
+ ],
1230
+ [
1231
+ 0.8435558080673218,
1232
+ 1.565331220626831,
1233
+ 0.036740973591804504
1234
+ ],
1235
+ [
1236
+ 0.8435558080673218,
1237
+ 1.565331220626831,
1238
+ 0.005000002682209015
1239
+ ],
1240
+ [
1241
+ 0.035350799560546875,
1242
+ 2.1412551403045654,
1243
+ 0.036740973591804504
1244
+ ],
1245
+ [
1246
+ 0.035350799560546875,
1247
+ 2.1412551403045654,
1248
+ 0.005000002682209015
1249
+ ],
1250
+ [
1251
+ 0.035350799560546875,
1252
+ 1.565331220626831,
1253
+ 0.036740973591804504
1254
+ ],
1255
+ [
1256
+ 0.035350799560546875,
1257
+ 1.565331220626831,
1258
+ 0.005000002682209015
1259
+ ]
1260
+ ],
1261
+ "center": {
1262
+ "x": 0.4394533038139343,
1263
+ "y": 1.8532931804656982,
1264
+ "z": 0.02087048813700676
1265
+ },
1266
+ "size": {
1267
+ "x": 0.8082050085067749,
1268
+ "y": 0.5759239196777344,
1269
+ "z": 0.03174097090959549
1270
+ }
1271
+ },
1272
+ "objectOrientedBoundingBox": null
1273
+ }
1274
+ },
1275
+ {
1276
+ "objectId": "window|2|0",
1277
+ "object_info": {
1278
+ "name": "window|2|0",
1279
+ "position": {
1280
+ "x": 4.6949028968811035,
1281
+ "y": 1.0854368209838867,
1282
+ "z": 7.078051567077637e-07
1283
+ },
1284
+ "rotation": {
1285
+ "x": -0.0,
1286
+ "y": 0.0,
1287
+ "z": 0.0
1288
+ },
1289
+ "visible": false,
1290
+ "isInteractable": false,
1291
+ "receptacle": false,
1292
+ "toggleable": false,
1293
+ "isToggled": false,
1294
+ "breakable": false,
1295
+ "isBroken": false,
1296
+ "canFillWithLiquid": false,
1297
+ "isFilledWithLiquid": false,
1298
+ "fillLiquid": null,
1299
+ "dirtyable": false,
1300
+ "isDirty": false,
1301
+ "canBeUsedUp": false,
1302
+ "isUsedUp": false,
1303
+ "cookable": false,
1304
+ "isCooked": false,
1305
+ "temperature": "RoomTemp",
1306
+ "isHeatSource": false,
1307
+ "isColdSource": false,
1308
+ "sliceable": false,
1309
+ "isSliced": false,
1310
+ "openable": false,
1311
+ "isOpen": false,
1312
+ "openness": 0.0,
1313
+ "pickupable": false,
1314
+ "isPickedUp": false,
1315
+ "moveable": false,
1316
+ "mass": 0.0,
1317
+ "salientMaterials": null,
1318
+ "receptacleObjectIds": null,
1319
+ "distance": 1.7859448194503784,
1320
+ "objectType": "Window",
1321
+ "objectId": "window|2|0",
1322
+ "assetId": "Window_Hung_48x24",
1323
+ "parentReceptacles": null,
1324
+ "controlledObjects": null,
1325
+ "isMoving": false,
1326
+ "axisAlignedBoundingBox": {
1327
+ "cornerPoints": [
1328
+ [
1329
+ 4.697093963623047,
1330
+ 1.7514897584915161,
1331
+ 0.12104513496160507
1332
+ ],
1333
+ [
1334
+ 4.697093963623047,
1335
+ 1.7514897584915161,
1336
+ -0.12104513496160507
1337
+ ],
1338
+ [
1339
+ 4.697093963623047,
1340
+ 1.0824052095413208,
1341
+ 0.12104513496160507
1342
+ ],
1343
+ [
1344
+ 4.697093963623047,
1345
+ 1.0824052095413208,
1346
+ -0.12104513496160507
1347
+ ],
1348
+ [
1349
+ 3.422311782836914,
1350
+ 1.7514897584915161,
1351
+ 0.12104513496160507
1352
+ ],
1353
+ [
1354
+ 3.422311782836914,
1355
+ 1.7514897584915161,
1356
+ -0.12104513496160507
1357
+ ],
1358
+ [
1359
+ 3.422311782836914,
1360
+ 1.0824052095413208,
1361
+ 0.12104513496160507
1362
+ ],
1363
+ [
1364
+ 3.422311782836914,
1365
+ 1.0824052095413208,
1366
+ -0.12104513496160507
1367
+ ]
1368
+ ],
1369
+ "center": {
1370
+ "x": 4.0597028732299805,
1371
+ "y": 1.4169474840164185,
1372
+ "z": 0.0
1373
+ },
1374
+ "size": {
1375
+ "x": 1.2747821807861328,
1376
+ "y": 0.6690845489501953,
1377
+ "z": 0.24209026992321014
1378
+ }
1379
+ },
1380
+ "objectOrientedBoundingBox": null
1381
+ }
1382
+ }
1383
+ ],
1384
+ "Agent": {
1385
+ "agent_position": {
1386
+ "x": 4.800000190734863,
1387
+ "y": 0.9009997844696045,
1388
+ "z": 2.0
1389
+ },
1390
+ "agent_rotation": {
1391
+ "x": 0.0,
1392
+ "y": 270.0,
1393
+ "z": 0.0
1394
+ },
1395
+ "agent_cameraHorizon": 30.000003814697266,
1396
+ "agent_isStanding": true,
1397
+ "agent_inHighFrictionArea": false
1398
+ },
1399
+ "camera_info": {
1400
+ "cameraPosition": {
1401
+ "x": 4.800000190734863,
1402
+ "y": 1.5759997367858887,
1403
+ "z": 2.0
1404
+ },
1405
+ "cameraOrthSize": -1.0,
1406
+ "fov": 90.0
1407
+ },
1408
+ "common_object": [
1409
+ "ArmChair|2|2|0",
1410
+ "door|2|6"
1411
+ ],
1412
+ "different_object": [
1413
+ "Painting|2|4",
1414
+ "Bed|2|0|0",
1415
+ "FloorLamp|2|2|1",
1416
+ "Laptop|surface|2|27",
1417
+ "Pillow|2|0|2",
1418
+ "window|2|0",
1419
+ "Painting|2|5",
1420
+ "Pillow|2|0|1"
1421
+ ]
1422
+ }
train/train1266/2/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cc2067f914983dd8bce693581a6be3e7951d16db54c9df9f88a4019459e38251
3
+ size 3145856
train/train1266/2/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60e87631f4b234d19d8edd1fd05cc72b6289aee7f5499a18375188fdeb1c69df
3
+ size 2359424
train/train1266/2/depth_0.png ADDED
train/train1266/2/depth_1.png ADDED
train/train1266/2/mask_questions.jsonl ADDED
File without changes
train/train1266/2/rgb_0.png ADDED

Git LFS Details

  • SHA256: 7cf35356f0432e3f8f0d8e7333663c919d56f993f3d43a6e9641afa2fe66dd9a
  • Pointer size: 131 Bytes
  • Size of remote file: 519 kB
train/train1266/2/rgb_1.png ADDED

Git LFS Details

  • SHA256: 3f743b130e06269481d4356595d85556d10d4fde2f7bdbd666d089afa1997e25
  • Pointer size: 131 Bytes
  • Size of remote file: 458 kB
train/train1266/2/semantic_0.png ADDED
train/train1266/2/semantic_1.png ADDED
train/train1266/3/0.json ADDED
@@ -0,0 +1,1043 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "FloorLamp|2|3|1",
5
+ "object_info": {
6
+ "name": "FloorLamp|2|3|1",
7
+ "position": {
8
+ "x": 8.832945823669434,
9
+ "y": -0.0030034780502319336,
10
+ "z": 3.331301689147949
11
+ },
12
+ "rotation": {
13
+ "x": 0.008981282822787762,
14
+ "y": 165.5211944580078,
15
+ "z": -0.0004530000442173332
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": false,
20
+ "toggleable": true,
21
+ "isToggled": true,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 3.9300003051757812,
45
+ "salientMaterials": [
46
+ "Metal"
47
+ ],
48
+ "receptacleObjectIds": null,
49
+ "distance": 4.2437262535095215,
50
+ "objectType": "FloorLamp",
51
+ "objectId": "FloorLamp|2|3|1",
52
+ "assetId": "Floor_Lamp_22",
53
+ "parentReceptacles": [
54
+ "Floor"
55
+ ],
56
+ "controlledObjects": [],
57
+ "isMoving": false,
58
+ "axisAlignedBoundingBox": {
59
+ "cornerPoints": [
60
+ [
61
+ 9.109576225280762,
62
+ 1.8784253597259521,
63
+ 3.6065993309020996
64
+ ],
65
+ [
66
+ 9.109576225280762,
67
+ 1.8784253597259521,
68
+ 3.053896903991699
69
+ ],
70
+ [
71
+ 9.109576225280762,
72
+ -0.0004411935806274414,
73
+ 3.6065993309020996
74
+ ],
75
+ [
76
+ 9.109576225280762,
77
+ -0.0004411935806274414,
78
+ 3.053896903991699
79
+ ],
80
+ [
81
+ 8.558926582336426,
82
+ 1.8784253597259521,
83
+ 3.6065993309020996
84
+ ],
85
+ [
86
+ 8.558926582336426,
87
+ 1.8784253597259521,
88
+ 3.053896903991699
89
+ ],
90
+ [
91
+ 8.558926582336426,
92
+ -0.0004411935806274414,
93
+ 3.6065993309020996
94
+ ],
95
+ [
96
+ 8.558926582336426,
97
+ -0.0004411935806274414,
98
+ 3.053896903991699
99
+ ]
100
+ ],
101
+ "center": {
102
+ "x": 8.834251403808594,
103
+ "y": 0.9389920830726624,
104
+ "z": 3.3302481174468994
105
+ },
106
+ "size": {
107
+ "x": 0.5506496429443359,
108
+ "y": 1.8788665533065796,
109
+ "z": 0.5527024269104004
110
+ }
111
+ },
112
+ "objectOrientedBoundingBox": {
113
+ "cornerPoints": [
114
+ [
115
+ 8.648694038391113,
116
+ -0.0004465058445930481,
117
+ 3.0155017375946045
118
+ ],
119
+ [
120
+ 9.14900016784668,
121
+ -0.0004424205981194973,
122
+ 3.1446924209594727
123
+ ],
124
+ [
125
+ 9.019808769226074,
126
+ -0.0003614232409745455,
127
+ 3.6450016498565674
128
+ ],
129
+ [
130
+ 8.519502639770508,
131
+ -0.0003655084874480963,
132
+ 3.5158112049102783
133
+ ],
134
+ [
135
+ 8.64875316619873,
136
+ 1.878377079963684,
137
+ 3.0152130126953125
138
+ ],
139
+ [
140
+ 9.149060249328613,
141
+ 1.8783811330795288,
142
+ 3.1444034576416016
143
+ ],
144
+ [
145
+ 9.019868850708008,
146
+ 1.8784621953964233,
147
+ 3.6447129249572754
148
+ ],
149
+ [
150
+ 8.519561767578125,
151
+ 1.8784581422805786,
152
+ 3.5155222415924072
153
+ ]
154
+ ]
155
+ }
156
+ }
157
+ },
158
+ {
159
+ "objectId": "ArmChair|2|3|0",
160
+ "object_info": {
161
+ "name": "ArmChair|2|3|0",
162
+ "position": {
163
+ "x": 7.98681640625,
164
+ "y": 0.002482771873474121,
165
+ "z": 3.321834087371826
166
+ },
167
+ "rotation": {
168
+ "x": 0.0,
169
+ "y": 180.0,
170
+ "z": 0.0
171
+ },
172
+ "visible": false,
173
+ "isInteractable": false,
174
+ "receptacle": true,
175
+ "toggleable": false,
176
+ "isToggled": false,
177
+ "breakable": false,
178
+ "isBroken": false,
179
+ "canFillWithLiquid": false,
180
+ "isFilledWithLiquid": false,
181
+ "fillLiquid": null,
182
+ "dirtyable": false,
183
+ "isDirty": false,
184
+ "canBeUsedUp": false,
185
+ "isUsedUp": false,
186
+ "cookable": false,
187
+ "isCooked": false,
188
+ "temperature": "RoomTemp",
189
+ "isHeatSource": false,
190
+ "isColdSource": false,
191
+ "sliceable": false,
192
+ "isSliced": false,
193
+ "openable": false,
194
+ "isOpen": false,
195
+ "openness": 0.0,
196
+ "pickupable": false,
197
+ "isPickedUp": false,
198
+ "moveable": true,
199
+ "mass": 28.299999237060547,
200
+ "salientMaterials": [
201
+ "Fabric"
202
+ ],
203
+ "receptacleObjectIds": [],
204
+ "distance": 3.4927163124084473,
205
+ "objectType": "ArmChair",
206
+ "objectId": "ArmChair|2|3|0",
207
+ "assetId": "RoboTHOR_armchair_tullsta",
208
+ "parentReceptacles": [
209
+ "Floor"
210
+ ],
211
+ "controlledObjects": null,
212
+ "isMoving": false,
213
+ "axisAlignedBoundingBox": {
214
+ "cornerPoints": [
215
+ [
216
+ 8.329514503479004,
217
+ 0.6466569900512695,
218
+ 3.6386990547180176
219
+ ],
220
+ [
221
+ 8.329514503479004,
222
+ 0.6466569900512695,
223
+ 3.021869659423828
224
+ ],
225
+ [
226
+ 8.329514503479004,
227
+ -1.4454126358032227e-05,
228
+ 3.6386990547180176
229
+ ],
230
+ [
231
+ 8.329514503479004,
232
+ -1.4454126358032227e-05,
233
+ 3.021869659423828
234
+ ],
235
+ [
236
+ 7.6490936279296875,
237
+ 0.6466569900512695,
238
+ 3.6386990547180176
239
+ ],
240
+ [
241
+ 7.6490936279296875,
242
+ 0.6466569900512695,
243
+ 3.021869659423828
244
+ ],
245
+ [
246
+ 7.6490936279296875,
247
+ -1.4454126358032227e-05,
248
+ 3.6386990547180176
249
+ ],
250
+ [
251
+ 7.6490936279296875,
252
+ -1.4454126358032227e-05,
253
+ 3.021869659423828
254
+ ]
255
+ ],
256
+ "center": {
257
+ "x": 7.989304065704346,
258
+ "y": 0.32332125306129456,
259
+ "z": 3.330284357070923
260
+ },
261
+ "size": {
262
+ "x": 0.6804208755493164,
263
+ "y": 0.6466714143753052,
264
+ "z": 0.6168293952941895
265
+ }
266
+ },
267
+ "objectOrientedBoundingBox": {
268
+ "cornerPoints": [
269
+ [
270
+ 7.6490936279296875,
271
+ -1.4394521713256836e-05,
272
+ 3.021869659423828
273
+ ],
274
+ [
275
+ 8.329514503479004,
276
+ -1.4394521713256836e-05,
277
+ 3.021869659423828
278
+ ],
279
+ [
280
+ 8.329514503479004,
281
+ -1.4394521713256836e-05,
282
+ 3.6386990547180176
283
+ ],
284
+ [
285
+ 7.6490936279296875,
286
+ -1.4394521713256836e-05,
287
+ 3.6386990547180176
288
+ ],
289
+ [
290
+ 7.6490936279296875,
291
+ 0.6466567516326904,
292
+ 3.021869659423828
293
+ ],
294
+ [
295
+ 8.329514503479004,
296
+ 0.6466567516326904,
297
+ 3.021869659423828
298
+ ],
299
+ [
300
+ 8.329514503479004,
301
+ 0.6466567516326904,
302
+ 3.6386990547180176
303
+ ],
304
+ [
305
+ 7.6490936279296875,
306
+ 0.6466567516326904,
307
+ 3.6386990547180176
308
+ ]
309
+ ]
310
+ }
311
+ }
312
+ },
313
+ {
314
+ "objectId": "Vase|surface|2|22",
315
+ "object_info": {
316
+ "name": "Vase|surface|2|22",
317
+ "position": {
318
+ "x": 7.023545742034912,
319
+ "y": 0.6983276605606079,
320
+ "z": 0.12290433049201965
321
+ },
322
+ "rotation": {
323
+ "x": -0.0005099728587083519,
324
+ "y": 0.0004951954470016062,
325
+ "z": -0.001561746932566166
326
+ },
327
+ "visible": false,
328
+ "isInteractable": false,
329
+ "receptacle": false,
330
+ "toggleable": false,
331
+ "isToggled": false,
332
+ "breakable": true,
333
+ "isBroken": false,
334
+ "canFillWithLiquid": false,
335
+ "isFilledWithLiquid": false,
336
+ "fillLiquid": null,
337
+ "dirtyable": false,
338
+ "isDirty": false,
339
+ "canBeUsedUp": false,
340
+ "isUsedUp": false,
341
+ "cookable": false,
342
+ "isCooked": false,
343
+ "temperature": "RoomTemp",
344
+ "isHeatSource": false,
345
+ "isColdSource": false,
346
+ "sliceable": false,
347
+ "isSliced": false,
348
+ "openable": false,
349
+ "isOpen": false,
350
+ "openness": 0.0,
351
+ "pickupable": true,
352
+ "isPickedUp": false,
353
+ "moveable": false,
354
+ "mass": 1.0,
355
+ "salientMaterials": [
356
+ "Ceramic"
357
+ ],
358
+ "receptacleObjectIds": null,
359
+ "distance": 2.6044681072235107,
360
+ "objectType": "Vase",
361
+ "objectId": "Vase|surface|2|22",
362
+ "assetId": "Vase_Tall_4",
363
+ "parentReceptacles": [
364
+ "Dresser|2|1",
365
+ "Floor"
366
+ ],
367
+ "controlledObjects": null,
368
+ "isMoving": false,
369
+ "axisAlignedBoundingBox": {
370
+ "cornerPoints": [
371
+ [
372
+ 7.1111159324646,
373
+ 0.9921165704727173,
374
+ 0.21022382378578186
375
+ ],
376
+ [
377
+ 7.1111159324646,
378
+ 0.9921165704727173,
379
+ 0.03558383136987686
380
+ ],
381
+ [
382
+ 7.1111159324646,
383
+ 0.6974319219589233,
384
+ 0.21022382378578186
385
+ ],
386
+ [
387
+ 7.1111159324646,
388
+ 0.6974319219589233,
389
+ 0.03558383136987686
390
+ ],
391
+ [
392
+ 6.93597936630249,
393
+ 0.9921165704727173,
394
+ 0.21022382378578186
395
+ ],
396
+ [
397
+ 6.93597936630249,
398
+ 0.9921165704727173,
399
+ 0.03558383136987686
400
+ ],
401
+ [
402
+ 6.93597936630249,
403
+ 0.6974319219589233,
404
+ 0.21022382378578186
405
+ ],
406
+ [
407
+ 6.93597936630249,
408
+ 0.6974319219589233,
409
+ 0.03558383136987686
410
+ ]
411
+ ],
412
+ "center": {
413
+ "x": 7.023547649383545,
414
+ "y": 0.8447742462158203,
415
+ "z": 0.12290383130311966
416
+ },
417
+ "size": {
418
+ "x": 0.17513656616210938,
419
+ "y": 0.29468464851379395,
420
+ "z": 0.1746399998664856
421
+ }
422
+ },
423
+ "objectOrientedBoundingBox": {
424
+ "cornerPoints": [
425
+ [
426
+ 7.111114501953125,
427
+ 0.6974307298660278,
428
+ 0.2102242410182953
429
+ ],
430
+ [
431
+ 6.935976505279541,
432
+ 0.6974354982376099,
433
+ 0.21022576093673706
434
+ ],
435
+ [
436
+ 6.935975074768066,
437
+ 0.6974339485168457,
438
+ 0.03558456152677536
439
+ ],
440
+ [
441
+ 7.11111307144165,
442
+ 0.6974291801452637,
443
+ 0.03558304160833359
444
+ ],
445
+ [
446
+ 7.1111226081848145,
447
+ 0.9921169877052307,
448
+ 0.21022161841392517
449
+ ],
450
+ [
451
+ 6.9359846115112305,
452
+ 0.9921217560768127,
453
+ 0.21022313833236694
454
+ ],
455
+ [
456
+ 6.935983180999756,
457
+ 0.9921202063560486,
458
+ 0.03558193892240524
459
+ ],
460
+ [
461
+ 7.11112117767334,
462
+ 0.9921154379844666,
463
+ 0.03558041900396347
464
+ ]
465
+ ]
466
+ }
467
+ }
468
+ },
469
+ {
470
+ "objectId": "Dresser|2|1",
471
+ "object_info": {
472
+ "name": "Dresser|2|1",
473
+ "position": {
474
+ "x": 6.165773391723633,
475
+ "y": 0.0015782415866851807,
476
+ "z": 0.20938833057880402
477
+ },
478
+ "rotation": {
479
+ "x": -0.0,
480
+ "y": 0.0,
481
+ "z": 0.0
482
+ },
483
+ "visible": false,
484
+ "isInteractable": false,
485
+ "receptacle": true,
486
+ "toggleable": false,
487
+ "isToggled": false,
488
+ "breakable": false,
489
+ "isBroken": false,
490
+ "canFillWithLiquid": false,
491
+ "isFilledWithLiquid": false,
492
+ "fillLiquid": null,
493
+ "dirtyable": false,
494
+ "isDirty": false,
495
+ "canBeUsedUp": false,
496
+ "isUsedUp": false,
497
+ "cookable": false,
498
+ "isCooked": false,
499
+ "temperature": "RoomTemp",
500
+ "isHeatSource": false,
501
+ "isColdSource": false,
502
+ "sliceable": false,
503
+ "isSliced": false,
504
+ "openable": false,
505
+ "isOpen": false,
506
+ "openness": 0.0,
507
+ "pickupable": false,
508
+ "isPickedUp": false,
509
+ "moveable": true,
510
+ "mass": 57.0,
511
+ "salientMaterials": [
512
+ "Wood"
513
+ ],
514
+ "receptacleObjectIds": [
515
+ "Vase|surface|2|22",
516
+ "AlarmClock|surface|2|26",
517
+ "Pen|surface|2|23",
518
+ "Statue|surface|2|28"
519
+ ],
520
+ "distance": 2.131072759628296,
521
+ "objectType": "Dresser",
522
+ "objectId": "Dresser|2|1",
523
+ "assetId": "Dresser_209_1",
524
+ "parentReceptacles": [
525
+ "Floor"
526
+ ],
527
+ "controlledObjects": null,
528
+ "isMoving": false,
529
+ "axisAlignedBoundingBox": {
530
+ "cornerPoints": [
531
+ [
532
+ 7.313997745513916,
533
+ 0.6974331140518188,
534
+ 0.40591591596603394
535
+ ],
536
+ [
537
+ 7.313997745513916,
538
+ 0.6974331140518188,
539
+ 0.024997547268867493
540
+ ],
541
+ [
542
+ 7.313997745513916,
543
+ 1.7285346984863281e-06,
544
+ 0.40591591596603394
545
+ ],
546
+ [
547
+ 7.313997745513916,
548
+ 1.7285346984863281e-06,
549
+ 0.024997547268867493
550
+ ],
551
+ [
552
+ 5.026513576507568,
553
+ 0.6974331140518188,
554
+ 0.40591591596603394
555
+ ],
556
+ [
557
+ 5.026513576507568,
558
+ 0.6974331140518188,
559
+ 0.024997547268867493
560
+ ],
561
+ [
562
+ 5.026513576507568,
563
+ 1.7285346984863281e-06,
564
+ 0.40591591596603394
565
+ ],
566
+ [
567
+ 5.026513576507568,
568
+ 1.7285346984863281e-06,
569
+ 0.024997547268867493
570
+ ]
571
+ ],
572
+ "center": {
573
+ "x": 6.170255661010742,
574
+ "y": 0.34871742129325867,
575
+ "z": 0.2154567390680313
576
+ },
577
+ "size": {
578
+ "x": 2.2874841690063477,
579
+ "y": 0.6974313855171204,
580
+ "z": 0.38091838359832764
581
+ }
582
+ },
583
+ "objectOrientedBoundingBox": {
584
+ "cornerPoints": [
585
+ [
586
+ 7.313997268676758,
587
+ 1.9371509552001953e-06,
588
+ 0.4059157967567444
589
+ ],
590
+ [
591
+ 5.026514053344727,
592
+ 1.9371509552001953e-06,
593
+ 0.4059157967567444
594
+ ],
595
+ [
596
+ 5.026514053344727,
597
+ 1.9371509552001953e-06,
598
+ 0.02499757707118988
599
+ ],
600
+ [
601
+ 7.313997268676758,
602
+ 1.9371509552001953e-06,
603
+ 0.02499757707118988
604
+ ],
605
+ [
606
+ 7.313997268676758,
607
+ 0.6974328756332397,
608
+ 0.4059157967567444
609
+ ],
610
+ [
611
+ 5.026514053344727,
612
+ 0.6974328756332397,
613
+ 0.4059157967567444
614
+ ],
615
+ [
616
+ 5.026514053344727,
617
+ 0.6974328756332397,
618
+ 0.02499757707118988
619
+ ],
620
+ [
621
+ 7.313997268676758,
622
+ 0.6974328756332397,
623
+ 0.02499757707118988
624
+ ]
625
+ ]
626
+ }
627
+ }
628
+ },
629
+ {
630
+ "objectId": "Dresser|2|1___3",
631
+ "object_info": {
632
+ "name": "Drawer (3)",
633
+ "position": {
634
+ "x": 6.68980073928833,
635
+ "y": 0.47976580262184143,
636
+ "z": 0.27938833832740784
637
+ },
638
+ "rotation": {
639
+ "x": -0.0,
640
+ "y": 0.0,
641
+ "z": 0.0
642
+ },
643
+ "visible": false,
644
+ "isInteractable": false,
645
+ "receptacle": true,
646
+ "toggleable": false,
647
+ "isToggled": false,
648
+ "breakable": false,
649
+ "isBroken": false,
650
+ "canFillWithLiquid": false,
651
+ "isFilledWithLiquid": false,
652
+ "fillLiquid": null,
653
+ "dirtyable": false,
654
+ "isDirty": false,
655
+ "canBeUsedUp": false,
656
+ "isUsedUp": false,
657
+ "cookable": false,
658
+ "isCooked": false,
659
+ "temperature": "RoomTemp",
660
+ "isHeatSource": false,
661
+ "isColdSource": false,
662
+ "sliceable": false,
663
+ "isSliced": false,
664
+ "openable": true,
665
+ "isOpen": false,
666
+ "openness": 0.0,
667
+ "pickupable": false,
668
+ "isPickedUp": false,
669
+ "moveable": false,
670
+ "mass": 0.0,
671
+ "salientMaterials": null,
672
+ "receptacleObjectIds": [],
673
+ "distance": 2.2793779373168945,
674
+ "objectType": "Drawer",
675
+ "objectId": "Dresser|2|1___3",
676
+ "assetId": "",
677
+ "parentReceptacles": [
678
+ "Floor"
679
+ ],
680
+ "controlledObjects": null,
681
+ "isMoving": false,
682
+ "axisAlignedBoundingBox": {
683
+ "cornerPoints": [
684
+ [
685
+ 7.206696510314941,
686
+ 0.6543091535568237,
687
+ 0.40831050276756287
688
+ ],
689
+ [
690
+ 7.206696510314941,
691
+ 0.6543091535568237,
692
+ 0.14765623211860657
693
+ ],
694
+ [
695
+ 7.206696510314941,
696
+ 0.34582221508026123,
697
+ 0.40831050276756287
698
+ ],
699
+ [
700
+ 7.206696510314941,
701
+ 0.34582221508026123,
702
+ 0.14765623211860657
703
+ ],
704
+ [
705
+ 6.172904968261719,
706
+ 0.6543091535568237,
707
+ 0.40831050276756287
708
+ ],
709
+ [
710
+ 6.172904968261719,
711
+ 0.6543091535568237,
712
+ 0.14765623211860657
713
+ ],
714
+ [
715
+ 6.172904968261719,
716
+ 0.34582221508026123,
717
+ 0.40831050276756287
718
+ ],
719
+ [
720
+ 6.172904968261719,
721
+ 0.34582221508026123,
722
+ 0.14765623211860657
723
+ ]
724
+ ],
725
+ "center": {
726
+ "x": 6.68980073928833,
727
+ "y": 0.5000656843185425,
728
+ "z": 0.2779833674430847
729
+ },
730
+ "size": {
731
+ "x": 1.0337915420532227,
732
+ "y": 0.3084869384765625,
733
+ "z": 0.2606542706489563
734
+ }
735
+ },
736
+ "objectOrientedBoundingBox": null
737
+ }
738
+ },
739
+ {
740
+ "objectId": "AlarmClock|surface|2|26",
741
+ "object_info": {
742
+ "name": "AlarmClock|surface|2|26",
743
+ "position": {
744
+ "x": 6.738453388214111,
745
+ "y": 0.6988660097122192,
746
+ "z": 0.2646715044975281
747
+ },
748
+ "rotation": {
749
+ "x": -4.923631058773026e-05,
750
+ "y": -3.864047539536841e-05,
751
+ "z": -5.7612662203609943e-05
752
+ },
753
+ "visible": false,
754
+ "isInteractable": false,
755
+ "receptacle": false,
756
+ "toggleable": false,
757
+ "isToggled": false,
758
+ "breakable": false,
759
+ "isBroken": false,
760
+ "canFillWithLiquid": false,
761
+ "isFilledWithLiquid": false,
762
+ "fillLiquid": null,
763
+ "dirtyable": false,
764
+ "isDirty": false,
765
+ "canBeUsedUp": false,
766
+ "isUsedUp": false,
767
+ "cookable": false,
768
+ "isCooked": false,
769
+ "temperature": "RoomTemp",
770
+ "isHeatSource": false,
771
+ "isColdSource": false,
772
+ "sliceable": false,
773
+ "isSliced": false,
774
+ "openable": false,
775
+ "isOpen": false,
776
+ "openness": 0.0,
777
+ "pickupable": true,
778
+ "isPickedUp": false,
779
+ "moveable": false,
780
+ "mass": 0.800000011920929,
781
+ "salientMaterials": [
782
+ "Metal",
783
+ "Plastic",
784
+ "Glass"
785
+ ],
786
+ "receptacleObjectIds": null,
787
+ "distance": 2.2954909801483154,
788
+ "objectType": "AlarmClock",
789
+ "objectId": "AlarmClock|surface|2|26",
790
+ "assetId": "Alarm_Clock_23",
791
+ "parentReceptacles": [
792
+ "Dresser|2|1",
793
+ "Floor"
794
+ ],
795
+ "controlledObjects": null,
796
+ "isMoving": false,
797
+ "axisAlignedBoundingBox": {
798
+ "cornerPoints": [
799
+ [
800
+ 6.822515487670898,
801
+ 0.9301871061325073,
802
+ 0.3476290702819824
803
+ ],
804
+ [
805
+ 6.822515487670898,
806
+ 0.9301871061325073,
807
+ 0.18260854482650757
808
+ ],
809
+ [
810
+ 6.822515487670898,
811
+ 0.6974329948425293,
812
+ 0.3476290702819824
813
+ ],
814
+ [
815
+ 6.822515487670898,
816
+ 0.6974329948425293,
817
+ 0.18260854482650757
818
+ ],
819
+ [
820
+ 6.654695510864258,
821
+ 0.9301871061325073,
822
+ 0.3476290702819824
823
+ ],
824
+ [
825
+ 6.654695510864258,
826
+ 0.9301871061325073,
827
+ 0.18260854482650757
828
+ ],
829
+ [
830
+ 6.654695510864258,
831
+ 0.6974329948425293,
832
+ 0.3476290702819824
833
+ ],
834
+ [
835
+ 6.654695510864258,
836
+ 0.6974329948425293,
837
+ 0.18260854482650757
838
+ ]
839
+ ],
840
+ "center": {
841
+ "x": 6.738605499267578,
842
+ "y": 0.8138100504875183,
843
+ "z": 0.265118807554245
844
+ },
845
+ "size": {
846
+ "x": 0.16781997680664062,
847
+ "y": 0.23275411128997803,
848
+ "z": 0.16502052545547485
849
+ }
850
+ },
851
+ "objectOrientedBoundingBox": {
852
+ "cornerPoints": [
853
+ [
854
+ 6.822515964508057,
855
+ 0.6974327564239502,
856
+ 0.3476293981075287
857
+ ],
858
+ [
859
+ 6.6546950340271,
860
+ 0.6974329352378845,
861
+ 0.34762927889823914
862
+ ],
863
+ [
864
+ 6.654695510864258,
865
+ 0.697432816028595,
866
+ 0.18260842561721802
867
+ ],
868
+ [
869
+ 6.822515964508057,
870
+ 0.6974326372146606,
871
+ 0.18260854482650757
872
+ ],
873
+ [
874
+ 6.822516441345215,
875
+ 0.930187463760376,
876
+ 0.347629189491272
877
+ ],
878
+ [
879
+ 6.654695510864258,
880
+ 0.9301876425743103,
881
+ 0.3476290702819824
882
+ ],
883
+ [
884
+ 6.654695510864258,
885
+ 0.930187463760376,
886
+ 0.1826082170009613
887
+ ],
888
+ [
889
+ 6.822516441345215,
890
+ 0.9301872849464417,
891
+ 0.18260833621025085
892
+ ]
893
+ ]
894
+ }
895
+ }
896
+ },
897
+ {
898
+ "objectId": "Dresser|2|1___2",
899
+ "object_info": {
900
+ "name": "Drawer (2)",
901
+ "position": {
902
+ "x": 6.69377326965332,
903
+ "y": 0.16780176758766174,
904
+ "z": 0.27938833832740784
905
+ },
906
+ "rotation": {
907
+ "x": -0.0,
908
+ "y": 0.0,
909
+ "z": 0.0
910
+ },
911
+ "visible": false,
912
+ "isInteractable": false,
913
+ "receptacle": true,
914
+ "toggleable": false,
915
+ "isToggled": false,
916
+ "breakable": false,
917
+ "isBroken": false,
918
+ "canFillWithLiquid": false,
919
+ "isFilledWithLiquid": false,
920
+ "fillLiquid": null,
921
+ "dirtyable": false,
922
+ "isDirty": false,
923
+ "canBeUsedUp": false,
924
+ "isUsedUp": false,
925
+ "cookable": false,
926
+ "isCooked": false,
927
+ "temperature": "RoomTemp",
928
+ "isHeatSource": false,
929
+ "isColdSource": false,
930
+ "sliceable": false,
931
+ "isSliced": false,
932
+ "openable": true,
933
+ "isOpen": false,
934
+ "openness": 0.0,
935
+ "pickupable": false,
936
+ "isPickedUp": false,
937
+ "moveable": false,
938
+ "mass": 0.0,
939
+ "salientMaterials": null,
940
+ "receptacleObjectIds": [],
941
+ "distance": 2.3599038124084473,
942
+ "objectType": "Drawer",
943
+ "objectId": "Dresser|2|1___2",
944
+ "assetId": "",
945
+ "parentReceptacles": [
946
+ "Floor"
947
+ ],
948
+ "controlledObjects": null,
949
+ "isMoving": false,
950
+ "axisAlignedBoundingBox": {
951
+ "cornerPoints": [
952
+ [
953
+ 7.210669040679932,
954
+ 0.34234514832496643,
955
+ 0.40831050276756287
956
+ ],
957
+ [
958
+ 7.210669040679932,
959
+ 0.34234514832496643,
960
+ 0.14765623211860657
961
+ ],
962
+ [
963
+ 7.210669040679932,
964
+ 0.03385820984840393,
965
+ 0.40831050276756287
966
+ ],
967
+ [
968
+ 7.210669040679932,
969
+ 0.03385820984840393,
970
+ 0.14765623211860657
971
+ ],
972
+ [
973
+ 6.176877498626709,
974
+ 0.34234514832496643,
975
+ 0.40831050276756287
976
+ ],
977
+ [
978
+ 6.176877498626709,
979
+ 0.34234514832496643,
980
+ 0.14765623211860657
981
+ ],
982
+ [
983
+ 6.176877498626709,
984
+ 0.03385820984840393,
985
+ 0.40831050276756287
986
+ ],
987
+ [
988
+ 6.176877498626709,
989
+ 0.03385820984840393,
990
+ 0.14765623211860657
991
+ ]
992
+ ],
993
+ "center": {
994
+ "x": 6.69377326965332,
995
+ "y": 0.18810167908668518,
996
+ "z": 0.2779833674430847
997
+ },
998
+ "size": {
999
+ "x": 1.0337915420532227,
1000
+ "y": 0.3084869384765625,
1001
+ "z": 0.2606542706489563
1002
+ }
1003
+ },
1004
+ "objectOrientedBoundingBox": null
1005
+ }
1006
+ }
1007
+ ],
1008
+ "Agent": {
1009
+ "agent_position": {
1010
+ "x": 5.099999904632568,
1011
+ "y": 0.9009997844696045,
1012
+ "z": 1.899999976158142
1013
+ },
1014
+ "agent_rotation": {
1015
+ "x": -0.0,
1016
+ "y": 90.0,
1017
+ "z": 0.0
1018
+ },
1019
+ "agent_cameraHorizon": 1.530945155536756e-06,
1020
+ "agent_isStanding": true,
1021
+ "agent_inHighFrictionArea": false
1022
+ },
1023
+ "camera_info": {
1024
+ "cameraPosition": {
1025
+ "x": 5.099999904632568,
1026
+ "y": 1.5759997367858887,
1027
+ "z": 1.899999976158142
1028
+ },
1029
+ "cameraOrthSize": -1.0,
1030
+ "fov": 90.0
1031
+ },
1032
+ "common_object": [
1033
+ "Dresser|2|1",
1034
+ "Dresser|2|1___3",
1035
+ "AlarmClock|surface|2|26",
1036
+ "Vase|surface|2|22",
1037
+ "Dresser|2|1___2"
1038
+ ],
1039
+ "different_object": [
1040
+ "ArmChair|2|3|0",
1041
+ "FloorLamp|2|3|1"
1042
+ ]
1043
+ }
train/train1266/3/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:790ea3bed6d487167e2967c049bbcbd2c219ed7c6bf83b162727cb1557cd55cd
3
+ size 3145856
train/train1266/3/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ecadddc39715b2eca3447e0800146254d31d5333b87f241d6bcc5b8a9ebf2c5
3
+ size 2359424
train/train1266/3/1.json ADDED
@@ -0,0 +1,1380 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "Statue|surface|2|28",
5
+ "object_info": {
6
+ "name": "Statue|surface|2|28",
7
+ "position": {
8
+ "x": 5.598064422607422,
9
+ "y": 0.6970914602279663,
10
+ "z": 0.12290363013744354
11
+ },
12
+ "rotation": {
13
+ "x": 0.0024279323406517506,
14
+ "y": -0.0005244044004939497,
15
+ "z": 0.002284790389239788
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": false,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": true,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": true,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 1.0,
45
+ "salientMaterials": [
46
+ "Metal"
47
+ ],
48
+ "receptacleObjectIds": null,
49
+ "distance": 1.7454805374145508,
50
+ "objectType": "Statue",
51
+ "objectId": "Statue|surface|2|28",
52
+ "assetId": "Towel_Statue_2",
53
+ "parentReceptacles": [
54
+ "Dresser|2|1",
55
+ "Floor"
56
+ ],
57
+ "controlledObjects": null,
58
+ "isMoving": false,
59
+ "axisAlignedBoundingBox": {
60
+ "cornerPoints": [
61
+ [
62
+ 5.680095672607422,
63
+ 1.1083916425704956,
64
+ 0.20493611693382263
65
+ ],
66
+ [
67
+ 5.680095672607422,
68
+ 1.1083916425704956,
69
+ 0.04087314009666443
70
+ ],
71
+ [
72
+ 5.680095672607422,
73
+ 0.6974304914474487,
74
+ 0.20493611693382263
75
+ ],
76
+ [
77
+ 5.680095672607422,
78
+ 0.6974304914474487,
79
+ 0.04087314009666443
80
+ ],
81
+ [
82
+ 5.516031265258789,
83
+ 1.1083916425704956,
84
+ 0.20493611693382263
85
+ ],
86
+ [
87
+ 5.516031265258789,
88
+ 1.1083916425704956,
89
+ 0.04087314009666443
90
+ ],
91
+ [
92
+ 5.516031265258789,
93
+ 0.6974304914474487,
94
+ 0.20493611693382263
95
+ ],
96
+ [
97
+ 5.516031265258789,
98
+ 0.6974304914474487,
99
+ 0.04087314009666443
100
+ ]
101
+ ],
102
+ "center": {
103
+ "x": 5.5980634689331055,
104
+ "y": 0.9029110670089722,
105
+ "z": 0.12290462851524353
106
+ },
107
+ "size": {
108
+ "x": 0.1640644073486328,
109
+ "y": 0.4109611511230469,
110
+ "z": 0.1640629768371582
111
+ }
112
+ },
113
+ "objectOrientedBoundingBox": {
114
+ "cornerPoints": [
115
+ [
116
+ 5.680095672607422,
117
+ 0.6974340081214905,
118
+ 0.20493435859680176
119
+ ],
120
+ [
121
+ 5.51603364944458,
122
+ 0.6974274516105652,
123
+ 0.20493285357952118
124
+ ],
125
+ [
126
+ 5.516035079956055,
127
+ 0.6974344253540039,
128
+ 0.040872007608413696
129
+ ],
130
+ [
131
+ 5.6800971031188965,
132
+ 0.6974409818649292,
133
+ 0.040873512625694275
134
+ ],
135
+ [
136
+ 5.680079460144043,
137
+ 1.1083941459655762,
138
+ 0.20495176315307617
139
+ ],
140
+ [
141
+ 5.516017436981201,
142
+ 1.1083875894546509,
143
+ 0.2049502730369568
144
+ ],
145
+ [
146
+ 5.516018867492676,
147
+ 1.1083946228027344,
148
+ 0.04088941961526871
149
+ ],
150
+ [
151
+ 5.680080890655518,
152
+ 1.1084010601043701,
153
+ 0.040890924632549286
154
+ ]
155
+ ]
156
+ }
157
+ }
158
+ },
159
+ {
160
+ "objectId": "Pen|surface|2|23",
161
+ "object_info": {
162
+ "name": "Pen|surface|2|23",
163
+ "position": {
164
+ "x": 5.31296968460083,
165
+ "y": 0.7030780911445618,
166
+ "z": 0.21741488575935364
167
+ },
168
+ "rotation": {
169
+ "x": 7.631659536855295e-05,
170
+ "y": -4.272627847967669e-06,
171
+ "z": -0.0025203400291502476
172
+ },
173
+ "visible": false,
174
+ "isInteractable": false,
175
+ "receptacle": false,
176
+ "toggleable": false,
177
+ "isToggled": false,
178
+ "breakable": false,
179
+ "isBroken": false,
180
+ "canFillWithLiquid": false,
181
+ "isFilledWithLiquid": false,
182
+ "fillLiquid": null,
183
+ "dirtyable": false,
184
+ "isDirty": false,
185
+ "canBeUsedUp": false,
186
+ "isUsedUp": false,
187
+ "cookable": false,
188
+ "isCooked": false,
189
+ "temperature": "RoomTemp",
190
+ "isHeatSource": false,
191
+ "isColdSource": false,
192
+ "sliceable": false,
193
+ "isSliced": false,
194
+ "openable": false,
195
+ "isOpen": false,
196
+ "openness": 0.0,
197
+ "pickupable": true,
198
+ "isPickedUp": false,
199
+ "moveable": false,
200
+ "mass": 0.005999999586492777,
201
+ "salientMaterials": [
202
+ "Plastic",
203
+ "Metal"
204
+ ],
205
+ "receptacleObjectIds": null,
206
+ "distance": 1.5766865015029907,
207
+ "objectType": "Pen",
208
+ "objectId": "Pen|surface|2|23",
209
+ "assetId": "Pen_2",
210
+ "parentReceptacles": [
211
+ "Dresser|2|1",
212
+ "Floor"
213
+ ],
214
+ "controlledObjects": null,
215
+ "isMoving": false,
216
+ "axisAlignedBoundingBox": {
217
+ "cornerPoints": [
218
+ [
219
+ 5.318614959716797,
220
+ 0.7087230682373047,
221
+ 0.32381385564804077
222
+ ],
223
+ [
224
+ 5.318614959716797,
225
+ 0.7087230682373047,
226
+ 0.12397593259811401
227
+ ],
228
+ [
229
+ 5.318614959716797,
230
+ 0.6974331140518188,
231
+ 0.32381385564804077
232
+ ],
233
+ [
234
+ 5.318614959716797,
235
+ 0.6974331140518188,
236
+ 0.12397593259811401
237
+ ],
238
+ [
239
+ 5.307324409484863,
240
+ 0.7087230682373047,
241
+ 0.32381385564804077
242
+ ],
243
+ [
244
+ 5.307324409484863,
245
+ 0.7087230682373047,
246
+ 0.12397593259811401
247
+ ],
248
+ [
249
+ 5.307324409484863,
250
+ 0.6974331140518188,
251
+ 0.32381385564804077
252
+ ],
253
+ [
254
+ 5.307324409484863,
255
+ 0.6974331140518188,
256
+ 0.12397593259811401
257
+ ]
258
+ ],
259
+ "center": {
260
+ "x": 5.31296968460083,
261
+ "y": 0.7030780911445618,
262
+ "z": 0.2238948941230774
263
+ },
264
+ "size": {
265
+ "x": 0.011290550231933594,
266
+ "y": 0.01128995418548584,
267
+ "z": 0.19983792304992676
268
+ }
269
+ },
270
+ "objectOrientedBoundingBox": {
271
+ "cornerPoints": [
272
+ [
273
+ 5.318614482879639,
274
+ 0.697432816028595,
275
+ 0.32381385564804077
276
+ ],
277
+ [
278
+ 5.307324409484863,
279
+ 0.697433352470398,
280
+ 0.32381385564804077
281
+ ],
282
+ [
283
+ 5.307324409484863,
284
+ 0.697433590888977,
285
+ 0.12397590279579163
286
+ ],
287
+ [
288
+ 5.318614482879639,
289
+ 0.6974331140518188,
290
+ 0.12397590279579163
291
+ ],
292
+ [
293
+ 5.318614959716797,
294
+ 0.7087225317955017,
295
+ 0.32381388545036316
296
+ ],
297
+ [
298
+ 5.3073248863220215,
299
+ 0.7087230682373047,
300
+ 0.32381388545036316
301
+ ],
302
+ [
303
+ 5.3073248863220215,
304
+ 0.7087233066558838,
305
+ 0.12397591769695282
306
+ ],
307
+ [
308
+ 5.318614959716797,
309
+ 0.7087228298187256,
310
+ 0.12397591769695282
311
+ ]
312
+ ]
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "objectId": "Vase|surface|2|22",
318
+ "object_info": {
319
+ "name": "Vase|surface|2|22",
320
+ "position": {
321
+ "x": 7.023545742034912,
322
+ "y": 0.6983276605606079,
323
+ "z": 0.12290433049201965
324
+ },
325
+ "rotation": {
326
+ "x": -0.0005099728587083519,
327
+ "y": 0.0004951954470016062,
328
+ "z": -0.001561746932566166
329
+ },
330
+ "visible": false,
331
+ "isInteractable": false,
332
+ "receptacle": false,
333
+ "toggleable": false,
334
+ "isToggled": false,
335
+ "breakable": true,
336
+ "isBroken": false,
337
+ "canFillWithLiquid": false,
338
+ "isFilledWithLiquid": false,
339
+ "fillLiquid": null,
340
+ "dirtyable": false,
341
+ "isDirty": false,
342
+ "canBeUsedUp": false,
343
+ "isUsedUp": false,
344
+ "cookable": false,
345
+ "isCooked": false,
346
+ "temperature": "RoomTemp",
347
+ "isHeatSource": false,
348
+ "isColdSource": false,
349
+ "sliceable": false,
350
+ "isSliced": false,
351
+ "openable": false,
352
+ "isOpen": false,
353
+ "openness": 0.0,
354
+ "pickupable": true,
355
+ "isPickedUp": false,
356
+ "moveable": false,
357
+ "mass": 1.0,
358
+ "salientMaterials": [
359
+ "Ceramic"
360
+ ],
361
+ "receptacleObjectIds": null,
362
+ "distance": 2.6044681072235107,
363
+ "objectType": "Vase",
364
+ "objectId": "Vase|surface|2|22",
365
+ "assetId": "Vase_Tall_4",
366
+ "parentReceptacles": [
367
+ "Dresser|2|1",
368
+ "Floor"
369
+ ],
370
+ "controlledObjects": null,
371
+ "isMoving": false,
372
+ "axisAlignedBoundingBox": {
373
+ "cornerPoints": [
374
+ [
375
+ 7.1111159324646,
376
+ 0.9921165704727173,
377
+ 0.21022382378578186
378
+ ],
379
+ [
380
+ 7.1111159324646,
381
+ 0.9921165704727173,
382
+ 0.03558383136987686
383
+ ],
384
+ [
385
+ 7.1111159324646,
386
+ 0.6974319219589233,
387
+ 0.21022382378578186
388
+ ],
389
+ [
390
+ 7.1111159324646,
391
+ 0.6974319219589233,
392
+ 0.03558383136987686
393
+ ],
394
+ [
395
+ 6.93597936630249,
396
+ 0.9921165704727173,
397
+ 0.21022382378578186
398
+ ],
399
+ [
400
+ 6.93597936630249,
401
+ 0.9921165704727173,
402
+ 0.03558383136987686
403
+ ],
404
+ [
405
+ 6.93597936630249,
406
+ 0.6974319219589233,
407
+ 0.21022382378578186
408
+ ],
409
+ [
410
+ 6.93597936630249,
411
+ 0.6974319219589233,
412
+ 0.03558383136987686
413
+ ]
414
+ ],
415
+ "center": {
416
+ "x": 7.023547649383545,
417
+ "y": 0.8447742462158203,
418
+ "z": 0.12290383130311966
419
+ },
420
+ "size": {
421
+ "x": 0.17513656616210938,
422
+ "y": 0.29468464851379395,
423
+ "z": 0.1746399998664856
424
+ }
425
+ },
426
+ "objectOrientedBoundingBox": {
427
+ "cornerPoints": [
428
+ [
429
+ 7.111114501953125,
430
+ 0.6974307298660278,
431
+ 0.2102242410182953
432
+ ],
433
+ [
434
+ 6.935976505279541,
435
+ 0.6974354982376099,
436
+ 0.21022576093673706
437
+ ],
438
+ [
439
+ 6.935975074768066,
440
+ 0.6974339485168457,
441
+ 0.03558456152677536
442
+ ],
443
+ [
444
+ 7.11111307144165,
445
+ 0.6974291801452637,
446
+ 0.03558304160833359
447
+ ],
448
+ [
449
+ 7.1111226081848145,
450
+ 0.9921169877052307,
451
+ 0.21022161841392517
452
+ ],
453
+ [
454
+ 6.9359846115112305,
455
+ 0.9921217560768127,
456
+ 0.21022313833236694
457
+ ],
458
+ [
459
+ 6.935983180999756,
460
+ 0.9921202063560486,
461
+ 0.03558193892240524
462
+ ],
463
+ [
464
+ 7.11112117767334,
465
+ 0.9921154379844666,
466
+ 0.03558041900396347
467
+ ]
468
+ ]
469
+ }
470
+ }
471
+ },
472
+ {
473
+ "objectId": "Dresser|2|1___1",
474
+ "object_info": {
475
+ "name": "Drawer (1)",
476
+ "position": {
477
+ "x": 5.649626731872559,
478
+ "y": 0.47607824206352234,
479
+ "z": 0.27938833832740784
480
+ },
481
+ "rotation": {
482
+ "x": -0.0,
483
+ "y": 0.0,
484
+ "z": 0.0
485
+ },
486
+ "visible": false,
487
+ "isInteractable": false,
488
+ "receptacle": true,
489
+ "toggleable": false,
490
+ "isToggled": false,
491
+ "breakable": false,
492
+ "isBroken": false,
493
+ "canFillWithLiquid": false,
494
+ "isFilledWithLiquid": false,
495
+ "fillLiquid": null,
496
+ "dirtyable": false,
497
+ "isDirty": false,
498
+ "canBeUsedUp": false,
499
+ "isUsedUp": false,
500
+ "cookable": false,
501
+ "isCooked": false,
502
+ "temperature": "RoomTemp",
503
+ "isHeatSource": false,
504
+ "isColdSource": false,
505
+ "sliceable": false,
506
+ "isSliced": false,
507
+ "openable": true,
508
+ "isOpen": false,
509
+ "openness": 0.0,
510
+ "pickupable": false,
511
+ "isPickedUp": false,
512
+ "moveable": false,
513
+ "mass": 0.0,
514
+ "salientMaterials": null,
515
+ "receptacleObjectIds": [],
516
+ "distance": 1.6629106998443604,
517
+ "objectType": "Drawer",
518
+ "objectId": "Dresser|2|1___1",
519
+ "assetId": "",
520
+ "parentReceptacles": [
521
+ "Floor"
522
+ ],
523
+ "controlledObjects": null,
524
+ "isMoving": false,
525
+ "axisAlignedBoundingBox": {
526
+ "cornerPoints": [
527
+ [
528
+ 6.16652250289917,
529
+ 0.6506216526031494,
530
+ 0.40831050276756287
531
+ ],
532
+ [
533
+ 6.16652250289917,
534
+ 0.6506216526031494,
535
+ 0.14765623211860657
536
+ ],
537
+ [
538
+ 6.16652250289917,
539
+ 0.3421347141265869,
540
+ 0.40831050276756287
541
+ ],
542
+ [
543
+ 6.16652250289917,
544
+ 0.3421347141265869,
545
+ 0.14765623211860657
546
+ ],
547
+ [
548
+ 5.132730960845947,
549
+ 0.6506216526031494,
550
+ 0.40831050276756287
551
+ ],
552
+ [
553
+ 5.132730960845947,
554
+ 0.6506216526031494,
555
+ 0.14765623211860657
556
+ ],
557
+ [
558
+ 5.132730960845947,
559
+ 0.3421347141265869,
560
+ 0.40831050276756287
561
+ ],
562
+ [
563
+ 5.132730960845947,
564
+ 0.3421347141265869,
565
+ 0.14765623211860657
566
+ ]
567
+ ],
568
+ "center": {
569
+ "x": 5.649626731872559,
570
+ "y": 0.49637818336486816,
571
+ "z": 0.2779833674430847
572
+ },
573
+ "size": {
574
+ "x": 1.0337915420532227,
575
+ "y": 0.3084869384765625,
576
+ "z": 0.2606542706489563
577
+ }
578
+ },
579
+ "objectOrientedBoundingBox": null
580
+ }
581
+ },
582
+ {
583
+ "objectId": "Dresser|2|1",
584
+ "object_info": {
585
+ "name": "Dresser|2|1",
586
+ "position": {
587
+ "x": 6.165773391723633,
588
+ "y": 0.0015782415866851807,
589
+ "z": 0.20938833057880402
590
+ },
591
+ "rotation": {
592
+ "x": -0.0,
593
+ "y": 0.0,
594
+ "z": 0.0
595
+ },
596
+ "visible": false,
597
+ "isInteractable": false,
598
+ "receptacle": true,
599
+ "toggleable": false,
600
+ "isToggled": false,
601
+ "breakable": false,
602
+ "isBroken": false,
603
+ "canFillWithLiquid": false,
604
+ "isFilledWithLiquid": false,
605
+ "fillLiquid": null,
606
+ "dirtyable": false,
607
+ "isDirty": false,
608
+ "canBeUsedUp": false,
609
+ "isUsedUp": false,
610
+ "cookable": false,
611
+ "isCooked": false,
612
+ "temperature": "RoomTemp",
613
+ "isHeatSource": false,
614
+ "isColdSource": false,
615
+ "sliceable": false,
616
+ "isSliced": false,
617
+ "openable": false,
618
+ "isOpen": false,
619
+ "openness": 0.0,
620
+ "pickupable": false,
621
+ "isPickedUp": false,
622
+ "moveable": true,
623
+ "mass": 57.0,
624
+ "salientMaterials": [
625
+ "Wood"
626
+ ],
627
+ "receptacleObjectIds": [
628
+ "Vase|surface|2|22",
629
+ "AlarmClock|surface|2|26",
630
+ "Pen|surface|2|23",
631
+ "Statue|surface|2|28"
632
+ ],
633
+ "distance": 2.131072759628296,
634
+ "objectType": "Dresser",
635
+ "objectId": "Dresser|2|1",
636
+ "assetId": "Dresser_209_1",
637
+ "parentReceptacles": [
638
+ "Floor"
639
+ ],
640
+ "controlledObjects": null,
641
+ "isMoving": false,
642
+ "axisAlignedBoundingBox": {
643
+ "cornerPoints": [
644
+ [
645
+ 7.313997745513916,
646
+ 0.6974331140518188,
647
+ 0.40591591596603394
648
+ ],
649
+ [
650
+ 7.313997745513916,
651
+ 0.6974331140518188,
652
+ 0.024997547268867493
653
+ ],
654
+ [
655
+ 7.313997745513916,
656
+ 1.7285346984863281e-06,
657
+ 0.40591591596603394
658
+ ],
659
+ [
660
+ 7.313997745513916,
661
+ 1.7285346984863281e-06,
662
+ 0.024997547268867493
663
+ ],
664
+ [
665
+ 5.026513576507568,
666
+ 0.6974331140518188,
667
+ 0.40591591596603394
668
+ ],
669
+ [
670
+ 5.026513576507568,
671
+ 0.6974331140518188,
672
+ 0.024997547268867493
673
+ ],
674
+ [
675
+ 5.026513576507568,
676
+ 1.7285346984863281e-06,
677
+ 0.40591591596603394
678
+ ],
679
+ [
680
+ 5.026513576507568,
681
+ 1.7285346984863281e-06,
682
+ 0.024997547268867493
683
+ ]
684
+ ],
685
+ "center": {
686
+ "x": 6.170255661010742,
687
+ "y": 0.34871742129325867,
688
+ "z": 0.2154567390680313
689
+ },
690
+ "size": {
691
+ "x": 2.2874841690063477,
692
+ "y": 0.6974313855171204,
693
+ "z": 0.38091838359832764
694
+ }
695
+ },
696
+ "objectOrientedBoundingBox": {
697
+ "cornerPoints": [
698
+ [
699
+ 7.313997268676758,
700
+ 1.9371509552001953e-06,
701
+ 0.4059157967567444
702
+ ],
703
+ [
704
+ 5.026514053344727,
705
+ 1.9371509552001953e-06,
706
+ 0.4059157967567444
707
+ ],
708
+ [
709
+ 5.026514053344727,
710
+ 1.9371509552001953e-06,
711
+ 0.02499757707118988
712
+ ],
713
+ [
714
+ 7.313997268676758,
715
+ 1.9371509552001953e-06,
716
+ 0.02499757707118988
717
+ ],
718
+ [
719
+ 7.313997268676758,
720
+ 0.6974328756332397,
721
+ 0.4059157967567444
722
+ ],
723
+ [
724
+ 5.026514053344727,
725
+ 0.6974328756332397,
726
+ 0.4059157967567444
727
+ ],
728
+ [
729
+ 5.026514053344727,
730
+ 0.6974328756332397,
731
+ 0.02499757707118988
732
+ ],
733
+ [
734
+ 7.313997268676758,
735
+ 0.6974328756332397,
736
+ 0.02499757707118988
737
+ ]
738
+ ]
739
+ }
740
+ }
741
+ },
742
+ {
743
+ "objectId": "Dresser|2|1___3",
744
+ "object_info": {
745
+ "name": "Drawer (3)",
746
+ "position": {
747
+ "x": 6.68980073928833,
748
+ "y": 0.47976580262184143,
749
+ "z": 0.27938833832740784
750
+ },
751
+ "rotation": {
752
+ "x": -0.0,
753
+ "y": 0.0,
754
+ "z": 0.0
755
+ },
756
+ "visible": false,
757
+ "isInteractable": false,
758
+ "receptacle": true,
759
+ "toggleable": false,
760
+ "isToggled": false,
761
+ "breakable": false,
762
+ "isBroken": false,
763
+ "canFillWithLiquid": false,
764
+ "isFilledWithLiquid": false,
765
+ "fillLiquid": null,
766
+ "dirtyable": false,
767
+ "isDirty": false,
768
+ "canBeUsedUp": false,
769
+ "isUsedUp": false,
770
+ "cookable": false,
771
+ "isCooked": false,
772
+ "temperature": "RoomTemp",
773
+ "isHeatSource": false,
774
+ "isColdSource": false,
775
+ "sliceable": false,
776
+ "isSliced": false,
777
+ "openable": true,
778
+ "isOpen": false,
779
+ "openness": 0.0,
780
+ "pickupable": false,
781
+ "isPickedUp": false,
782
+ "moveable": false,
783
+ "mass": 0.0,
784
+ "salientMaterials": null,
785
+ "receptacleObjectIds": [],
786
+ "distance": 2.2793779373168945,
787
+ "objectType": "Drawer",
788
+ "objectId": "Dresser|2|1___3",
789
+ "assetId": "",
790
+ "parentReceptacles": [
791
+ "Floor"
792
+ ],
793
+ "controlledObjects": null,
794
+ "isMoving": false,
795
+ "axisAlignedBoundingBox": {
796
+ "cornerPoints": [
797
+ [
798
+ 7.206696510314941,
799
+ 0.6543091535568237,
800
+ 0.40831050276756287
801
+ ],
802
+ [
803
+ 7.206696510314941,
804
+ 0.6543091535568237,
805
+ 0.14765623211860657
806
+ ],
807
+ [
808
+ 7.206696510314941,
809
+ 0.34582221508026123,
810
+ 0.40831050276756287
811
+ ],
812
+ [
813
+ 7.206696510314941,
814
+ 0.34582221508026123,
815
+ 0.14765623211860657
816
+ ],
817
+ [
818
+ 6.172904968261719,
819
+ 0.6543091535568237,
820
+ 0.40831050276756287
821
+ ],
822
+ [
823
+ 6.172904968261719,
824
+ 0.6543091535568237,
825
+ 0.14765623211860657
826
+ ],
827
+ [
828
+ 6.172904968261719,
829
+ 0.34582221508026123,
830
+ 0.40831050276756287
831
+ ],
832
+ [
833
+ 6.172904968261719,
834
+ 0.34582221508026123,
835
+ 0.14765623211860657
836
+ ]
837
+ ],
838
+ "center": {
839
+ "x": 6.68980073928833,
840
+ "y": 0.5000656843185425,
841
+ "z": 0.2779833674430847
842
+ },
843
+ "size": {
844
+ "x": 1.0337915420532227,
845
+ "y": 0.3084869384765625,
846
+ "z": 0.2606542706489563
847
+ }
848
+ },
849
+ "objectOrientedBoundingBox": null
850
+ }
851
+ },
852
+ {
853
+ "objectId": "window|2|0",
854
+ "object_info": {
855
+ "name": "window|2|0",
856
+ "position": {
857
+ "x": 4.6949028968811035,
858
+ "y": 1.0854368209838867,
859
+ "z": 7.078051567077637e-07
860
+ },
861
+ "rotation": {
862
+ "x": -0.0,
863
+ "y": 0.0,
864
+ "z": 0.0
865
+ },
866
+ "visible": false,
867
+ "isInteractable": false,
868
+ "receptacle": false,
869
+ "toggleable": false,
870
+ "isToggled": false,
871
+ "breakable": false,
872
+ "isBroken": false,
873
+ "canFillWithLiquid": false,
874
+ "isFilledWithLiquid": false,
875
+ "fillLiquid": null,
876
+ "dirtyable": false,
877
+ "isDirty": false,
878
+ "canBeUsedUp": false,
879
+ "isUsedUp": false,
880
+ "cookable": false,
881
+ "isCooked": false,
882
+ "temperature": "RoomTemp",
883
+ "isHeatSource": false,
884
+ "isColdSource": false,
885
+ "sliceable": false,
886
+ "isSliced": false,
887
+ "openable": false,
888
+ "isOpen": false,
889
+ "openness": 0.0,
890
+ "pickupable": false,
891
+ "isPickedUp": false,
892
+ "moveable": false,
893
+ "mass": 0.0,
894
+ "salientMaterials": null,
895
+ "receptacleObjectIds": null,
896
+ "distance": 1.7859448194503784,
897
+ "objectType": "Window",
898
+ "objectId": "window|2|0",
899
+ "assetId": "Window_Hung_48x24",
900
+ "parentReceptacles": null,
901
+ "controlledObjects": null,
902
+ "isMoving": false,
903
+ "axisAlignedBoundingBox": {
904
+ "cornerPoints": [
905
+ [
906
+ 4.697093963623047,
907
+ 1.7514897584915161,
908
+ 0.12104513496160507
909
+ ],
910
+ [
911
+ 4.697093963623047,
912
+ 1.7514897584915161,
913
+ -0.12104513496160507
914
+ ],
915
+ [
916
+ 4.697093963623047,
917
+ 1.0824052095413208,
918
+ 0.12104513496160507
919
+ ],
920
+ [
921
+ 4.697093963623047,
922
+ 1.0824052095413208,
923
+ -0.12104513496160507
924
+ ],
925
+ [
926
+ 3.422311782836914,
927
+ 1.7514897584915161,
928
+ 0.12104513496160507
929
+ ],
930
+ [
931
+ 3.422311782836914,
932
+ 1.7514897584915161,
933
+ -0.12104513496160507
934
+ ],
935
+ [
936
+ 3.422311782836914,
937
+ 1.0824052095413208,
938
+ 0.12104513496160507
939
+ ],
940
+ [
941
+ 3.422311782836914,
942
+ 1.0824052095413208,
943
+ -0.12104513496160507
944
+ ]
945
+ ],
946
+ "center": {
947
+ "x": 4.0597028732299805,
948
+ "y": 1.4169474840164185,
949
+ "z": 0.0
950
+ },
951
+ "size": {
952
+ "x": 1.2747821807861328,
953
+ "y": 0.6690845489501953,
954
+ "z": 0.24209026992321014
955
+ }
956
+ },
957
+ "objectOrientedBoundingBox": null
958
+ }
959
+ },
960
+ {
961
+ "objectId": "AlarmClock|surface|2|26",
962
+ "object_info": {
963
+ "name": "AlarmClock|surface|2|26",
964
+ "position": {
965
+ "x": 6.738453388214111,
966
+ "y": 0.6988660097122192,
967
+ "z": 0.2646715044975281
968
+ },
969
+ "rotation": {
970
+ "x": -4.923631058773026e-05,
971
+ "y": -3.864047539536841e-05,
972
+ "z": -5.7612662203609943e-05
973
+ },
974
+ "visible": false,
975
+ "isInteractable": false,
976
+ "receptacle": false,
977
+ "toggleable": false,
978
+ "isToggled": false,
979
+ "breakable": false,
980
+ "isBroken": false,
981
+ "canFillWithLiquid": false,
982
+ "isFilledWithLiquid": false,
983
+ "fillLiquid": null,
984
+ "dirtyable": false,
985
+ "isDirty": false,
986
+ "canBeUsedUp": false,
987
+ "isUsedUp": false,
988
+ "cookable": false,
989
+ "isCooked": false,
990
+ "temperature": "RoomTemp",
991
+ "isHeatSource": false,
992
+ "isColdSource": false,
993
+ "sliceable": false,
994
+ "isSliced": false,
995
+ "openable": false,
996
+ "isOpen": false,
997
+ "openness": 0.0,
998
+ "pickupable": true,
999
+ "isPickedUp": false,
1000
+ "moveable": false,
1001
+ "mass": 0.800000011920929,
1002
+ "salientMaterials": [
1003
+ "Metal",
1004
+ "Plastic",
1005
+ "Glass"
1006
+ ],
1007
+ "receptacleObjectIds": null,
1008
+ "distance": 2.2954909801483154,
1009
+ "objectType": "AlarmClock",
1010
+ "objectId": "AlarmClock|surface|2|26",
1011
+ "assetId": "Alarm_Clock_23",
1012
+ "parentReceptacles": [
1013
+ "Dresser|2|1",
1014
+ "Floor"
1015
+ ],
1016
+ "controlledObjects": null,
1017
+ "isMoving": false,
1018
+ "axisAlignedBoundingBox": {
1019
+ "cornerPoints": [
1020
+ [
1021
+ 6.822515487670898,
1022
+ 0.9301871061325073,
1023
+ 0.3476290702819824
1024
+ ],
1025
+ [
1026
+ 6.822515487670898,
1027
+ 0.9301871061325073,
1028
+ 0.18260854482650757
1029
+ ],
1030
+ [
1031
+ 6.822515487670898,
1032
+ 0.6974329948425293,
1033
+ 0.3476290702819824
1034
+ ],
1035
+ [
1036
+ 6.822515487670898,
1037
+ 0.6974329948425293,
1038
+ 0.18260854482650757
1039
+ ],
1040
+ [
1041
+ 6.654695510864258,
1042
+ 0.9301871061325073,
1043
+ 0.3476290702819824
1044
+ ],
1045
+ [
1046
+ 6.654695510864258,
1047
+ 0.9301871061325073,
1048
+ 0.18260854482650757
1049
+ ],
1050
+ [
1051
+ 6.654695510864258,
1052
+ 0.6974329948425293,
1053
+ 0.3476290702819824
1054
+ ],
1055
+ [
1056
+ 6.654695510864258,
1057
+ 0.6974329948425293,
1058
+ 0.18260854482650757
1059
+ ]
1060
+ ],
1061
+ "center": {
1062
+ "x": 6.738605499267578,
1063
+ "y": 0.8138100504875183,
1064
+ "z": 0.265118807554245
1065
+ },
1066
+ "size": {
1067
+ "x": 0.16781997680664062,
1068
+ "y": 0.23275411128997803,
1069
+ "z": 0.16502052545547485
1070
+ }
1071
+ },
1072
+ "objectOrientedBoundingBox": {
1073
+ "cornerPoints": [
1074
+ [
1075
+ 6.822515964508057,
1076
+ 0.6974327564239502,
1077
+ 0.3476293981075287
1078
+ ],
1079
+ [
1080
+ 6.6546950340271,
1081
+ 0.6974329352378845,
1082
+ 0.34762927889823914
1083
+ ],
1084
+ [
1085
+ 6.654695510864258,
1086
+ 0.697432816028595,
1087
+ 0.18260842561721802
1088
+ ],
1089
+ [
1090
+ 6.822515964508057,
1091
+ 0.6974326372146606,
1092
+ 0.18260854482650757
1093
+ ],
1094
+ [
1095
+ 6.822516441345215,
1096
+ 0.930187463760376,
1097
+ 0.347629189491272
1098
+ ],
1099
+ [
1100
+ 6.654695510864258,
1101
+ 0.9301876425743103,
1102
+ 0.3476290702819824
1103
+ ],
1104
+ [
1105
+ 6.654695510864258,
1106
+ 0.930187463760376,
1107
+ 0.1826082170009613
1108
+ ],
1109
+ [
1110
+ 6.822516441345215,
1111
+ 0.9301872849464417,
1112
+ 0.18260833621025085
1113
+ ]
1114
+ ]
1115
+ }
1116
+ }
1117
+ },
1118
+ {
1119
+ "objectId": "Dresser|2|1___2",
1120
+ "object_info": {
1121
+ "name": "Drawer (2)",
1122
+ "position": {
1123
+ "x": 6.69377326965332,
1124
+ "y": 0.16780176758766174,
1125
+ "z": 0.27938833832740784
1126
+ },
1127
+ "rotation": {
1128
+ "x": -0.0,
1129
+ "y": 0.0,
1130
+ "z": 0.0
1131
+ },
1132
+ "visible": false,
1133
+ "isInteractable": false,
1134
+ "receptacle": true,
1135
+ "toggleable": false,
1136
+ "isToggled": false,
1137
+ "breakable": false,
1138
+ "isBroken": false,
1139
+ "canFillWithLiquid": false,
1140
+ "isFilledWithLiquid": false,
1141
+ "fillLiquid": null,
1142
+ "dirtyable": false,
1143
+ "isDirty": false,
1144
+ "canBeUsedUp": false,
1145
+ "isUsedUp": false,
1146
+ "cookable": false,
1147
+ "isCooked": false,
1148
+ "temperature": "RoomTemp",
1149
+ "isHeatSource": false,
1150
+ "isColdSource": false,
1151
+ "sliceable": false,
1152
+ "isSliced": false,
1153
+ "openable": true,
1154
+ "isOpen": false,
1155
+ "openness": 0.0,
1156
+ "pickupable": false,
1157
+ "isPickedUp": false,
1158
+ "moveable": false,
1159
+ "mass": 0.0,
1160
+ "salientMaterials": null,
1161
+ "receptacleObjectIds": [],
1162
+ "distance": 2.3599038124084473,
1163
+ "objectType": "Drawer",
1164
+ "objectId": "Dresser|2|1___2",
1165
+ "assetId": "",
1166
+ "parentReceptacles": [
1167
+ "Floor"
1168
+ ],
1169
+ "controlledObjects": null,
1170
+ "isMoving": false,
1171
+ "axisAlignedBoundingBox": {
1172
+ "cornerPoints": [
1173
+ [
1174
+ 7.210669040679932,
1175
+ 0.34234514832496643,
1176
+ 0.40831050276756287
1177
+ ],
1178
+ [
1179
+ 7.210669040679932,
1180
+ 0.34234514832496643,
1181
+ 0.14765623211860657
1182
+ ],
1183
+ [
1184
+ 7.210669040679932,
1185
+ 0.03385820984840393,
1186
+ 0.40831050276756287
1187
+ ],
1188
+ [
1189
+ 7.210669040679932,
1190
+ 0.03385820984840393,
1191
+ 0.14765623211860657
1192
+ ],
1193
+ [
1194
+ 6.176877498626709,
1195
+ 0.34234514832496643,
1196
+ 0.40831050276756287
1197
+ ],
1198
+ [
1199
+ 6.176877498626709,
1200
+ 0.34234514832496643,
1201
+ 0.14765623211860657
1202
+ ],
1203
+ [
1204
+ 6.176877498626709,
1205
+ 0.03385820984840393,
1206
+ 0.40831050276756287
1207
+ ],
1208
+ [
1209
+ 6.176877498626709,
1210
+ 0.03385820984840393,
1211
+ 0.14765623211860657
1212
+ ]
1213
+ ],
1214
+ "center": {
1215
+ "x": 6.69377326965332,
1216
+ "y": 0.18810167908668518,
1217
+ "z": 0.2779833674430847
1218
+ },
1219
+ "size": {
1220
+ "x": 1.0337915420532227,
1221
+ "y": 0.3084869384765625,
1222
+ "z": 0.2606542706489563
1223
+ }
1224
+ },
1225
+ "objectOrientedBoundingBox": null
1226
+ }
1227
+ },
1228
+ {
1229
+ "objectId": "Dresser|2|1___0",
1230
+ "object_info": {
1231
+ "name": "Drawer",
1232
+ "position": {
1233
+ "x": 5.649626731872559,
1234
+ "y": 0.16780176758766174,
1235
+ "z": 0.27938833832740784
1236
+ },
1237
+ "rotation": {
1238
+ "x": -0.0,
1239
+ "y": 0.0,
1240
+ "z": 0.0
1241
+ },
1242
+ "visible": false,
1243
+ "isInteractable": false,
1244
+ "receptacle": true,
1245
+ "toggleable": false,
1246
+ "isToggled": false,
1247
+ "breakable": false,
1248
+ "isBroken": false,
1249
+ "canFillWithLiquid": false,
1250
+ "isFilledWithLiquid": false,
1251
+ "fillLiquid": null,
1252
+ "dirtyable": false,
1253
+ "isDirty": false,
1254
+ "canBeUsedUp": false,
1255
+ "isUsedUp": false,
1256
+ "cookable": false,
1257
+ "isCooked": false,
1258
+ "temperature": "RoomTemp",
1259
+ "isHeatSource": false,
1260
+ "isColdSource": false,
1261
+ "sliceable": false,
1262
+ "isSliced": false,
1263
+ "openable": true,
1264
+ "isOpen": false,
1265
+ "openness": 0.0,
1266
+ "pickupable": false,
1267
+ "isPickedUp": false,
1268
+ "moveable": false,
1269
+ "mass": 0.0,
1270
+ "salientMaterials": null,
1271
+ "receptacleObjectIds": [
1272
+ "Pen|surface|2|25",
1273
+ "Pen|surface|2|24"
1274
+ ],
1275
+ "distance": 1.7670011520385742,
1276
+ "objectType": "Drawer",
1277
+ "objectId": "Dresser|2|1___0",
1278
+ "assetId": "",
1279
+ "parentReceptacles": [
1280
+ "Floor"
1281
+ ],
1282
+ "controlledObjects": null,
1283
+ "isMoving": false,
1284
+ "axisAlignedBoundingBox": {
1285
+ "cornerPoints": [
1286
+ [
1287
+ 6.16652250289917,
1288
+ 0.3403380513191223,
1289
+ 0.40831050276756287
1290
+ ],
1291
+ [
1292
+ 6.16652250289917,
1293
+ 0.3403380513191223,
1294
+ 0.14765623211860657
1295
+ ],
1296
+ [
1297
+ 6.16652250289917,
1298
+ 0.03385818004608154,
1299
+ 0.40831050276756287
1300
+ ],
1301
+ [
1302
+ 6.16652250289917,
1303
+ 0.03385818004608154,
1304
+ 0.14765623211860657
1305
+ ],
1306
+ [
1307
+ 5.132730960845947,
1308
+ 0.3403380513191223,
1309
+ 0.40831050276756287
1310
+ ],
1311
+ [
1312
+ 5.132730960845947,
1313
+ 0.3403380513191223,
1314
+ 0.14765623211860657
1315
+ ],
1316
+ [
1317
+ 5.132730960845947,
1318
+ 0.03385818004608154,
1319
+ 0.40831050276756287
1320
+ ],
1321
+ [
1322
+ 5.132730960845947,
1323
+ 0.03385818004608154,
1324
+ 0.14765623211860657
1325
+ ]
1326
+ ],
1327
+ "center": {
1328
+ "x": 5.649626731872559,
1329
+ "y": 0.18709811568260193,
1330
+ "z": 0.2779833674430847
1331
+ },
1332
+ "size": {
1333
+ "x": 1.0337915420532227,
1334
+ "y": 0.30647987127304077,
1335
+ "z": 0.2606542706489563
1336
+ }
1337
+ },
1338
+ "objectOrientedBoundingBox": null
1339
+ }
1340
+ }
1341
+ ],
1342
+ "Agent": {
1343
+ "agent_position": {
1344
+ "x": 5.099999904632568,
1345
+ "y": 0.9009997844696045,
1346
+ "z": 2.0999999046325684
1347
+ },
1348
+ "agent_rotation": {
1349
+ "x": -0.0,
1350
+ "y": 180.0,
1351
+ "z": 0.0
1352
+ },
1353
+ "agent_cameraHorizon": 1.5309450418499182e-06,
1354
+ "agent_isStanding": true,
1355
+ "agent_inHighFrictionArea": false
1356
+ },
1357
+ "camera_info": {
1358
+ "cameraPosition": {
1359
+ "x": 5.099999904632568,
1360
+ "y": 1.5759997367858887,
1361
+ "z": 2.0999999046325684
1362
+ },
1363
+ "cameraOrthSize": -1.0,
1364
+ "fov": 90.0
1365
+ },
1366
+ "common_object": [
1367
+ "Dresser|2|1",
1368
+ "Dresser|2|1___3",
1369
+ "AlarmClock|surface|2|26",
1370
+ "Vase|surface|2|22",
1371
+ "Dresser|2|1___2"
1372
+ ],
1373
+ "different_object": [
1374
+ "Statue|surface|2|28",
1375
+ "Dresser|2|1___1",
1376
+ "Pen|surface|2|23",
1377
+ "Dresser|2|1___0",
1378
+ "window|2|0"
1379
+ ]
1380
+ }
train/train1266/3/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de535becbf22429c2a294ab756cd67a281b38009172d74608fe1e3216425c83e
3
+ size 3145856
train/train1266/3/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d5325d324d2af84ef39633959d096fbb4d1541777b197f23b7b1365bc213ecf5
3
+ size 2359424
train/train1266/3/depth_0.png ADDED
train/train1266/3/depth_1.png ADDED
train/train1266/3/mask_questions.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"id": 4786, "folder_dir": "train1266/3", "pair_name": "0-1:Dresser|2|1___3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Dresser\nC. FloorLamp\nD. ArmChair", "answer": "A", "object_name": "Drawer", "image_1": "train1266/3/rgb_0.png", "image_2": "train1266/3/rgb_1.png", "mask_image": "train1266/3/rgb_1_mask_Dresser|2|1___3.png", "options": ["Drawer", "Dresser", "FloorLamp", "ArmChair"]}
2
+ {"id": 4787, "folder_dir": "train1266/3", "pair_name": "0-1:AlarmClock|surface|2|26", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. AlarmClock\nB. Dresser\nC. FloorLamp\nD. ArmChair", "answer": "A", "object_name": "AlarmClock", "image_1": "train1266/3/rgb_0.png", "image_2": "train1266/3/rgb_1.png", "mask_image": "train1266/3/rgb_1_mask_AlarmClock|surface|2|26.png", "options": ["AlarmClock", "Dresser", "FloorLamp", "ArmChair"]}
3
+ {"id": 4788, "folder_dir": "train1266/3", "pair_name": "0-1:Dresser|2|1___2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. Dresser\nC. Drawer\nD. FloorLamp", "answer": "C", "object_name": "Drawer", "image_1": "train1266/3/rgb_0.png", "image_2": "train1266/3/rgb_1.png", "mask_image": "train1266/3/rgb_1_mask_Dresser|2|1___2.png", "options": ["ArmChair", "Dresser", "Drawer", "FloorLamp"]}
4
+ {"id": 4789, "folder_dir": "train1266/3", "pair_name": "1-0:AlarmClock|surface|2|26", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. AlarmClock\nB. Pen\nC. Dresser\nD. Statue", "answer": "A", "object_name": "AlarmClock", "image_1": "train1266/3/rgb_1.png", "image_2": "train1266/3/rgb_0.png", "mask_image": "train1266/3/rgb_0_mask_AlarmClock|surface|2|26.png", "options": ["AlarmClock", "Pen", "Dresser", "Statue"]}
train/train1266/3/questions_direction.jsonl ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ {"id": 8073, "folder_dir": "train1266/3", "pair_name": "FloorLamp-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Window 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": "FloorLamp", "tgt_object": "Window", "src_com": {"x": 8.834251403808594, "y": 0.9389920830726624, "z": 3.3302481174468994}, "tgt_com": {"x": 4.0597028732299805, "y": 1.4169474840164185, "z": 0.0}, "agent_pos": {"x": 5.099999904632568, "y": 1.5759997367858887, "z": 1.899999976158142}, "image_1": "train1266/3/rgb_0.png", "image_2": "train1266/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
2
+ {"id": 8074, "folder_dir": "train1266/3", "pair_name": "ArmChair-Pen", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Pen 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": "ArmChair", "tgt_object": "Pen", "src_com": {"x": 7.989304065704346, "y": 0.32332125306129456, "z": 3.330284357070923}, "tgt_com": {"x": 5.31296968460083, "y": 0.7030780911445618, "z": 0.2238948941230774}, "agent_pos": {"x": 5.099999904632568, "y": 1.5759997367858887, "z": 1.899999976158142}, "image_1": "train1266/3/rgb_0.png", "image_2": "train1266/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
3
+ {"id": 8075, "folder_dir": "train1266/3", "pair_name": "ArmChair-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Window 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": "ArmChair", "tgt_object": "Window", "src_com": {"x": 7.989304065704346, "y": 0.32332125306129456, "z": 3.330284357070923}, "tgt_com": {"x": 4.0597028732299805, "y": 1.4169474840164185, "z": 0.0}, "agent_pos": {"x": 5.099999904632568, "y": 1.5759997367858887, "z": 1.899999976158142}, "image_1": "train1266/3/rgb_0.png", "image_2": "train1266/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
4
+ {"id": 8076, "folder_dir": "train1266/3", "pair_name": "Pen-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pen. Where is the centroid position of ArmChair 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": "Pen", "tgt_object": "ArmChair", "src_com": {"x": 5.31296968460083, "y": 0.7030780911445618, "z": 0.2238948941230774}, "tgt_com": {"x": 7.989304065704346, "y": 0.32332125306129456, "z": 3.330284357070923}, "agent_pos": {"x": 5.099999904632568, "y": 1.5759997367858887, "z": 2.0999999046325684}, "image_1": "train1266/3/rgb_1.png", "image_2": "train1266/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
5
+ {"id": 8077, "folder_dir": "train1266/3", "pair_name": "Window-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. 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": "B", "src_object": "Window", "tgt_object": "FloorLamp", "src_com": {"x": 4.0597028732299805, "y": 1.4169474840164185, "z": 0.0}, "tgt_com": {"x": 8.834251403808594, "y": 0.9389920830726624, "z": 3.3302481174468994}, "agent_pos": {"x": 5.099999904632568, "y": 1.5759997367858887, "z": 2.0999999046325684}, "image_1": "train1266/3/rgb_1.png", "image_2": "train1266/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
6
+ {"id": 8078, "folder_dir": "train1266/3", "pair_name": "Window-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of ArmChair 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": "Window", "tgt_object": "ArmChair", "src_com": {"x": 4.0597028732299805, "y": 1.4169474840164185, "z": 0.0}, "tgt_com": {"x": 7.989304065704346, "y": 0.32332125306129456, "z": 3.330284357070923}, "agent_pos": {"x": 5.099999904632568, "y": 1.5759997367858887, "z": 2.0999999046325684}, "image_1": "train1266/3/rgb_1.png", "image_2": "train1266/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}