{ "object": [ { "objectId": "CoffeeMachine|+01.12|+01.10|+00.31", "object_info": { "name": "CoffeeMachine_7eed2c49", "position": { "x": 1.1240583658218384, "y": 1.1000142097473145, "z": 0.3121460974216461 }, "rotation": { "x": -0.0009789797477424145, "y": 227.6841278076172, "z": 0.0006286704447120428 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": true, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": true, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": true, "mass": 5.0, "salientMaterials": [ "Plastic" ], "receptacleObjectIds": [], "distance": 2.6500422954559326, "objectType": "CoffeeMachine", "objectId": "CoffeeMachine|+01.12|+01.10|+00.31", "assetId": "coffee_machine_22", "parentReceptacles": [ "CounterTop|+00.91|+01.15|+00.79" ], "controlledObjects": [], "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.444838047027588, 1.5231287479400635, 0.6374049186706543 ], [ 1.444838047027588, 1.5231287479400635, -0.01756986975669861 ], [ 1.444838047027588, 1.100001573562622, 0.6374049186706543 ], [ 1.444838047027588, 1.100001573562622, -0.01756986975669861 ], [ 0.8001408576965332, 1.5231287479400635, 0.6374049186706543 ], [ 0.8001408576965332, 1.5231287479400635, -0.01756986975669861 ], [ 0.8001408576965332, 1.100001573562622, 0.6374049186706543 ], [ 0.8001408576965332, 1.100001573562622, -0.01756986975669861 ] ], "center": { "x": 1.1224894523620605, "y": 1.3115651607513428, "z": 0.30991753935813904 }, "size": { "x": 0.6446971893310547, "y": 0.4231271743774414, "z": 0.6549748182296753 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ 0.774789571762085, 1.1000174283981323, 0.35833796858787537 ], [ 1.138045072555542, 1.1000064611434937, -0.0406491756439209 ], [ 1.4500473737716675, 1.0999999046325684, 0.24341148138046265 ], [ 1.0867918729782104, 1.100010871887207, 0.6423985958099365 ], [ 0.7748002409934998, 1.5231316089630127, 0.35833609104156494 ], [ 1.1380558013916016, 1.523120641708374, -0.04065105319023132 ], [ 1.4500579833984375, 1.5231140851974487, 0.24340960383415222 ], [ 1.0868024826049805, 1.5231250524520874, 0.6423967480659485 ] ] } } }, { "objectId": "Stool|+00.98|+00.01|+01.79", "object_info": { "name": "Stool_2707c148", "position": { "x": 0.9839980602264404, "y": 0.010992646217346191, "z": 1.7930026054382324 }, "rotation": { "x": 0.007171475328505039, "y": 47.460514068603516, "z": 359.991943359375 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": true, "mass": 3.180000066757202, "salientMaterials": [ "Wood" ], "receptacleObjectIds": [], "distance": 3.1901750564575195, "objectType": "Stool", "objectId": "Stool|+00.98|+00.01|+01.79", "assetId": "Stool_1_1", "parentReceptacles": [ "Floor|+00.00|+00.00|+00.00" ], "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.1744482517242432, 0.7566056251525879, 1.976942539215088 ], [ 1.1744482517242432, 0.7566056251525879, 1.5966382026672363 ], [ 1.1744482517242432, 1.5497207641601562e-06, 1.976942539215088 ], [ 1.1744482517242432, 1.5497207641601562e-06, 1.5966382026672363 ], [ 0.7976140975952148, 0.7566056251525879, 1.976942539215088 ], [ 0.7976140975952148, 0.7566056251525879, 1.5966382026672363 ], [ 0.7976140975952148, 1.5497207641601562e-06, 1.976942539215088 ], [ 0.7976140975952148, 1.5497207641601562e-06, 1.5966382026672363 ] ], "center": { "x": 0.986031174659729, "y": 0.378303587436676, "z": 1.786790370941162 }, "size": { "x": 0.3768341541290283, "y": 0.7566040754318237, "z": 0.38030433654785156 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ 1.1997058391571045, -5.778856575489044e-06, 1.7846699953079224 ], [ 0.9924308657646179, 1.5192665159702301e-05, 2.0105533599853516 ], [ 0.7650452852249146, 3.769434988498688e-05, 1.8018999099731445 ], [ 0.9723202586174011, 1.6722828149795532e-05, 1.5760166645050049 ], [ 1.1997814178466797, 0.756571352481842, 1.7846691608428955 ], [ 0.9925065040588379, 0.7565922737121582, 2.0105526447296143 ], [ 0.7651209235191345, 0.7566148042678833, 1.8018990755081177 ], [ 0.9723958969116211, 0.7565938830375671, 1.5760157108306885 ] ] } } }, { "objectId": "Stool|+01.54|+00.01|+01.33", "object_info": { "name": "Stool_94bfc49a", "position": { "x": 1.542002558708191, "y": 0.01098489761352539, "z": 1.328005313873291 }, "rotation": { "x": 359.99176025390625, "y": 45.673736572265625, "z": -0.0023337984457612038 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": true, "mass": 3.180000066757202, "salientMaterials": [ "Wood" ], "receptacleObjectIds": [], "distance": 3.436495780944824, "objectType": "Stool", "objectId": "Stool|+01.54|+00.01|+01.33", "assetId": "Stool_1_1", "parentReceptacles": [ "Floor|+00.00|+00.00|+00.00" ], "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.7323064804077148, 0.7566065788269043, 1.5118203163146973 ], [ 1.7323064804077148, 0.7566065788269043, 1.1318888664245605 ], [ 1.7323064804077148, 2.5033950805664062e-06, 1.5118203163146973 ], [ 1.7323064804077148, 2.5033950805664062e-06, 1.1318888664245605 ], [ 1.3560948371887207, 0.7566065788269043, 1.5118203163146973 ], [ 1.3560948371887207, 0.7566065788269043, 1.1318888664245605 ], [ 1.3560948371887207, 2.5033950805664062e-06, 1.5118203163146973 ], [ 1.3560948371887207, 2.5033950805664062e-06, 1.1318888664245605 ] ], "center": { "x": 1.5442006587982178, "y": 0.37830454111099243, "z": 1.321854591369629 }, "size": { "x": 0.37621164321899414, "y": 0.7566040754318237, "z": 0.3799314498901367 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ 1.7578821182250977, 2.191215753555298e-05, 1.3263903856277466 ], [ 1.5436683893203735, 2.9711052775382996e-05, 1.545707106590271 ], [ 1.3228933811187744, -1.905485987663269e-06, 1.3300690650939941 ], [ 1.537106990814209, -9.704381227493286e-06, 1.1107523441314697 ], [ 1.7578401565551758, 0.756602942943573, 1.3263224363327026 ], [ 1.5436264276504517, 0.7566107511520386, 1.5456392765045166 ], [ 1.322851300239563, 0.7565791606903076, 1.3300011157989502 ], [ 1.537065029144287, 0.756571352481842, 1.1106843948364258 ] ] } } }, { "objectId": "Pot|+01.46|+01.10|+00.61", "object_info": { "name": "Pot_2dee9f64", "position": { "x": 1.4630048274993896, "y": 1.1002941131591797, "z": 0.6099968552589417 }, "rotation": { "x": 0.008243518881499767, "y": 0.00047784019261598587, "z": 0.011192337609827518 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": true, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": true, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": true, "isPickedUp": false, "moveable": false, "mass": 0.5699999928474426, "salientMaterials": [ "Metal" ], "receptacleObjectIds": [], "distance": 3.0317013263702393, "objectType": "Pot", "objectId": "Pot|+01.46|+01.10|+00.61", "assetId": "Pot_4", "parentReceptacles": [ "CounterTop|+00.91|+01.15|+00.79" ], "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.6330716609954834, 1.2473602294921875, 0.7545655965805054 ], [ 1.6330716609954834, 1.2473602294921875, 0.46546125411987305 ], [ 1.6330716609954834, 1.099987506866455, 0.7545655965805054 ], [ 1.6330716609954834, 1.099987506866455, 0.46546125411987305 ], [ 1.2928698062896729, 1.2473602294921875, 0.7545655965805054 ], [ 1.2928698062896729, 1.2473602294921875, 0.46546125411987305 ], [ 1.2928698062896729, 1.099987506866455, 0.7545655965805054 ], [ 1.2928698062896729, 1.099987506866455, 0.46546125411987305 ] ], "center": { "x": 1.4629707336425781, "y": 1.1736738681793213, "z": 0.6100134253501892 }, "size": { "x": 0.34020185470581055, "y": 0.14737272262573242, "z": 0.2891043424606323 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ 1.6331098079681396, 1.1000409126281738, 0.7545503973960876 ], [ 1.292905569076538, 1.0999430418014526, 0.7545527219772339 ], [ 1.2929035425186157, 1.099975824356079, 0.46544212102890015 ], [ 1.6331079006195068, 1.1000736951828003, 0.4654397964477539 ], [ 1.6330674886703491, 1.2473468780517578, 0.7545671463012695 ], [ 1.292863130569458, 1.247248888015747, 0.7545694708824158 ], [ 1.2928612232208252, 1.247281789779663, 0.46545881032943726 ], [ 1.6330654621124268, 1.2473796606063843, 0.465456485748291 ] ] } } }, { "objectId": "CounterTop|+00.91|+01.15|+00.79", "object_info": { "name": "CounterTop_f62f58ad", "position": { "x": 0.9089999794960022, "y": 1.1471999883651733, "z": 0.7889999747276306 }, "rotation": { "x": -0.0, "y": 315.0000915527344, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [ "Knife|+00.06|+01.11|+01.58", "Apple|+00.32|+01.14|+01.51", "Egg|+00.17|+01.12|+01.26", "Tomato|+00.20|+01.15|+01.06", "Pot|+01.46|+01.10|+00.61", "CoffeeMachine|+01.12|+01.10|+00.31" ], "distance": 2.546844482421875, "objectType": "CounterTop", "objectId": "CounterTop|+00.91|+01.15|+00.79", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 2.0736382007598877, 1.1182000637054443, 2.014354705810547 ], [ 2.0736382007598877, 1.1182000637054443, -0.35354095697402954 ], [ 2.0736382007598877, 1.0998499393463135, 2.014354705810547 ], [ 2.0736382007598877, 1.0998499393463135, -0.35354095697402954 ], [ -0.29425668716430664, 1.1182000637054443, 2.014354705810547 ], [ -0.29425668716430664, 1.1182000637054443, -0.35354095697402954 ], [ -0.29425668716430664, 1.0998499393463135, 2.014354705810547 ], [ -0.29425668716430664, 1.0998499393463135, -0.35354095697402954 ] ], "center": { "x": 0.8896907567977905, "y": 1.109025001525879, "z": 0.8304068446159363 }, "size": { "x": 2.3678948879241943, "y": 0.01835012435913086, "z": 2.3678956031799316 } }, "objectOrientedBoundingBox": null } }, { "objectId": "Window|+00.32|+01.45|+03.09", "object_info": { "name": "Window_8f6f1933", "position": { "x": 0.32199999690055847, "y": 1.4490000009536743, "z": 3.0889999866485596 }, "rotation": { "x": 90.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": false, "toggleable": false, "isToggled": false, "breakable": true, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": null, "distance": 3.627934694290161, "objectType": "Window", "objectId": "Window|+00.32|+01.45|+03.09", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.2007529735565186, 2.0, 3.098759651184082 ], [ 1.2007529735565186, 2.0, 2.9908151626586914 ], [ 1.2007529735565186, 0.8999998569488525, 3.098759651184082 ], [ 1.2007529735565186, 0.8999998569488525, 2.9908151626586914 ], [ -0.5049378871917725, 2.0, 3.098759651184082 ], [ -0.5049378871917725, 2.0, 2.9908151626586914 ], [ -0.5049378871917725, 0.8999998569488525, 3.098759651184082 ], [ -0.5049378871917725, 0.8999998569488525, 2.9908151626586914 ] ], "center": { "x": 0.34790754318237305, "y": 1.4499999284744263, "z": 3.0447874069213867 }, "size": { "x": 1.705690860748291, "y": 1.1000001430511475, "z": 0.10794448852539062 } }, "objectOrientedBoundingBox": null } } ], "Agent": { "agent_position": { "x": 0.3999999761581421, "y": 0.9009991884231567, "z": 2.700000047683716 }, "agent_rotation": { "x": -0.0, "y": 111.99999237060547, "z": 0.0 }, "agent_cameraHorizon": -0.0, "agent_isStanding": true, "agent_inHighFrictionArea": false }, "camera_info": { "cameraPosition": { "x": 0.3999999761581421, "y": 1.5759992599487305, "z": 2.700000047683716 }, "cameraOrthSize": -1.0, "fov": 90.0 }, "common_object": [ "CoffeeMachine|+01.12|+01.10|+00.31", "Pot|+01.46|+01.10|+00.61", "CounterTop|+00.91|+01.15|+00.79" ], "different_object": [ "Stool|+01.54|+00.01|+01.33", "Window|+00.32|+01.45|+03.09", "Stool|+00.98|+00.01|+01.79" ] }