{ "object": [ { "objectId": "Cabinet|+00.24|+02.01|-01.20", "object_info": { "name": "Cabinet_18d6ca6e", "position": { "x": 0.23500001430511475, "y": 2.009999990463257, "z": -1.1974999904632568 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [ "Mug|+00.37|+01.65|-01.35" ], "distance": 2.382039785385132, "objectType": "Cabinet", "objectId": "Cabinet|+00.24|+02.01|-01.20", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 0.6404899954795837, 2.365490198135376, -1.184999942779541 ], [ 0.6404899954795837, 2.365490198135376, -1.5084998607635498 ], [ 0.6404899954795837, 1.654510259628296, -1.184999942779541 ], [ 0.6404899954795837, 1.654510259628296, -1.5084998607635498 ], [ 0.2345101237297058, 2.365490198135376, -1.184999942779541 ], [ 0.2345101237297058, 2.365490198135376, -1.5084998607635498 ], [ 0.2345101237297058, 1.654510259628296, -1.184999942779541 ], [ 0.2345101237297058, 1.654510259628296, -1.5084998607635498 ] ], "center": { "x": 0.4375000596046448, "y": 2.010000228881836, "z": -1.3467499017715454 }, "size": { "x": 0.40597987174987793, "y": 0.7109799385070801, "z": 0.3234999179840088 } }, "objectOrientedBoundingBox": null } }, { "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": "Bread|-00.40|+00.95|-01.29", "object_info": { "name": "Bread_0616e5b9", "position": { "x": -0.40149372816085815, "y": 0.94837886095047, "z": -1.2914730310440063 }, "rotation": { "x": 359.992919921875, "y": 0.012173857539892197, "z": 359.9464111328125 }, "visible": false, "isInteractable": false, "receptacle": false, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": true, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": true, "isPickedUp": false, "moveable": false, "mass": 0.699999988079071, "salientMaterials": [ "Food" ], "receptacleObjectIds": null, "distance": 1.6961318254470825, "objectType": "Bread", "objectId": "Bread|-00.40|+00.95|-01.29", "assetId": "Bread_22", "parentReceptacles": [ "CounterTop|+00.07|+00.95|-01.20" ], "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ -0.2654774785041809, 0.9977163076400757, -1.1571388244628906 ], [ -0.2654774785041809, 0.9977163076400757, -1.4230027198791504 ], [ -0.2654774785041809, 0.8999408483505249, -1.1571388244628906 ], [ -0.2654774785041809, 0.8999408483505249, -1.4230027198791504 ], [ -0.5313830375671387, 0.9977163076400757, -1.1571388244628906 ], [ -0.5313830375671387, 0.9977163076400757, -1.4230027198791504 ], [ -0.5313830375671387, 0.8999408483505249, -1.1571388244628906 ], [ -0.5313830375671387, 0.8999408483505249, -1.4230027198791504 ] ], "center": { "x": -0.3984302580356598, "y": 0.9488285779953003, "z": -1.2900707721710205 }, "size": { "x": 0.26590555906295776, "y": 0.09777545928955078, "z": 0.26586389541625977 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ -0.26550811529159546, 0.8999636173248291, -1.1571780443191528 ], [ -0.5313442945480347, 0.9002122282981873, -1.1571216583251953 ], [ -0.531400740146637, 0.900179386138916, -1.422957420349121 ], [ -0.26556459069252014, 0.8999307751655579, -1.4230138063430786 ], [ -0.26541686058044434, 0.9975310564041138, -1.1571900844573975 ], [ -0.5312529802322388, 0.9977797269821167, -1.15713369846344 ], [ -0.5313094854354858, 0.9977468848228455, -1.4229694604873657 ], [ -0.265473335981369, 0.9974982142448425, -1.4230258464813232 ] ] } } }, { "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": "Cabinet|+00.17|+02.01|-01.20", "object_info": { "name": "Cabinet_26b90064", "position": { "x": 0.16499999165534973, "y": 2.009999990463257, "z": -1.1974999904632568 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [], "distance": 2.331547498703003, "objectType": "Cabinet", "objectId": "Cabinet|+00.17|+02.01|-01.20", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 0.16549000144004822, 2.365490198135376, -1.184999942779541 ], [ 0.16549000144004822, 2.365490198135376, -1.5084998607635498 ], [ 0.16549000144004822, 1.654510259628296, -1.184999942779541 ], [ 0.16549000144004822, 1.654510259628296, -1.5084998607635498 ], [ -0.26548993587493896, 2.365490198135376, -1.184999942779541 ], [ -0.26548993587493896, 2.365490198135376, -1.5084998607635498 ], [ -0.26548993587493896, 1.654510259628296, -1.184999942779541 ], [ -0.26548993587493896, 1.654510259628296, -1.5084998607635498 ] ], "center": { "x": -0.049999967217445374, "y": 2.010000228881836, "z": -1.3467499017715454 }, "size": { "x": 0.4309799373149872, "y": 0.7109799385070801, "z": 0.3234999179840088 } }, "objectOrientedBoundingBox": null } }, { "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": "Drawer|+00.26|+00.78|-01.08", "object_info": { "name": "Drawer_b45341e6", "position": { "x": 0.25499996542930603, "y": 0.7799999713897705, "z": -1.0824999809265137 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [], "distance": 2.0655438899993896, "objectType": "Drawer", "objectId": "Drawer|+00.26|+00.78|-01.08", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 0.4857814610004425, 0.8355415463447571, -0.8842127323150635 ], [ 0.4857814610004425, 0.8355415463447571, -1.2803256511688232 ], [ 0.4857814610004425, 0.7257093787193298, -0.8842127323150635 ], [ 0.4857814610004425, 0.7257093787193298, -1.2803256511688232 ], [ 0.024218469858169556, 0.8355415463447571, -0.8842127323150635 ], [ 0.024218469858169556, 0.8355415463447571, -1.2803256511688232 ], [ 0.024218469858169556, 0.7257093787193298, -0.8842127323150635 ], [ 0.024218469858169556, 0.7257093787193298, -1.2803256511688232 ] ], "center": { "x": 0.25499996542930603, "y": 0.7806254625320435, "z": -1.0822691917419434 }, "size": { "x": 0.46156299114227295, "y": 0.10983216762542725, "z": 0.39611291885375977 } }, "objectOrientedBoundingBox": null } }, { "objectId": "Cabinet|+01.13|+00.47|-00.90", "object_info": { "name": "Cabinet_f83f16b6", "position": { "x": 1.125000238418579, "y": 0.4700000286102295, "z": -0.8974999785423279 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [], "distance": 2.8074707984924316, "objectType": "Cabinet", "objectId": "Cabinet|+01.13|+00.47|-00.90", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.125000238418579, 0.8350000381469727, -0.8849993944168091 ], [ 1.125000238418579, 0.8350000381469727, -1.2035001516342163 ], [ 1.125000238418579, 0.10500001907348633, -0.8849993944168091 ], [ 1.125000238418579, 0.10500001907348633, -1.2035001516342163 ], [ 0.5349996089935303, 0.8350000381469727, -0.8849993944168091 ], [ 0.5349996089935303, 0.8350000381469727, -1.2035001516342163 ], [ 0.5349996089935303, 0.10500001907348633, -0.8849993944168091 ], [ 0.5349996089935303, 0.10500001907348633, -1.2035001516342163 ] ], "center": { "x": 0.8299999237060547, "y": 0.4700000286102295, "z": -1.0442497730255127 }, "size": { "x": 0.5900006294250488, "y": 0.7300000190734863, "z": 0.3185007572174072 } }, "objectOrientedBoundingBox": null } }, { "objectId": "Cabinet|+01.12|+02.01|-01.20", "object_info": { "name": "Cabinet_2b32e732", "position": { "x": 1.1150001287460327, "y": 2.009999990463257, "z": -1.1974999904632568 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [], "distance": 3.082550048828125, "objectType": "Cabinet", "objectId": "Cabinet|+01.12|+02.01|-01.20", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.115490198135376, 2.365490198135376, -1.184999942779541 ], [ 1.115490198135376, 2.365490198135376, -1.5084998607635498 ], [ 1.115490198135376, 1.654510259628296, -1.184999942779541 ], [ 1.115490198135376, 1.654510259628296, -1.5084998607635498 ], [ 0.7095099687576294, 2.365490198135376, -1.184999942779541 ], [ 0.7095099687576294, 2.365490198135376, -1.5084998607635498 ], [ 0.7095099687576294, 1.654510259628296, -1.184999942779541 ], [ 0.7095099687576294, 1.654510259628296, -1.5084998607635498 ] ], "center": { "x": 0.9125000834465027, "y": 2.010000228881836, "z": -1.3467499017715454 }, "size": { "x": 0.4059802293777466, "y": 0.7109799385070801, "z": 0.3234999179840088 } }, "objectOrientedBoundingBox": null } }, { "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": "Cabinet|-00.77|+02.01|-01.20", "object_info": { "name": "Cabinet_43d845c5", "position": { "x": -0.76500004529953, "y": 2.009999990463257, "z": -1.1974999904632568 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [], "distance": 1.7900038957595825, "objectType": "Cabinet", "objectId": "Cabinet|-00.77|+02.01|-01.20", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ -0.33451002836227417, 2.365490198135376, -1.184999942779541 ], [ -0.33451002836227417, 2.365490198135376, -1.5084998607635498 ], [ -0.33451002836227417, 1.654510259628296, -1.184999942779541 ], [ -0.33451002836227417, 1.654510259628296, -1.5084998607635498 ], [ -0.7654898762702942, 2.365490198135376, -1.184999942779541 ], [ -0.7654898762702942, 2.365490198135376, -1.5084998607635498 ], [ -0.7654898762702942, 1.654510259628296, -1.184999942779541 ], [ -0.7654898762702942, 1.654510259628296, -1.5084998607635498 ] ], "center": { "x": -0.5499999523162842, "y": 2.010000228881836, "z": -1.3467499017715454 }, "size": { "x": 0.43097984790802, "y": 0.7109799385070801, "z": 0.3234999179840088 } }, "objectOrientedBoundingBox": null } }, { "objectId": "Fork|-00.28|+00.90|-01.12", "object_info": { "name": "Fork_9268f651", "position": { "x": -0.2762519419193268, "y": 0.9021087288856506, "z": -1.1180750131607056 }, "rotation": { "x": 0.49095645546913147, "y": 359.8409118652344, "z": 358.337158203125 }, "visible": false, "isInteractable": false, "receptacle": false, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": true, "isPickedUp": false, "moveable": false, "mass": 0.03999999910593033, "salientMaterials": [ "Metal" ], "receptacleObjectIds": null, "distance": 1.657604455947876, "objectType": "Fork", "objectId": "Fork|-00.28|+00.90|-01.12", "assetId": "Fork_1", "parentReceptacles": [ "CounterTop|+00.07|+00.95|-01.20" ], "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ -0.2592535614967346, 0.9207731485366821, -1.016282558441162 ], [ -0.2592535614967346, 0.9207731485366821, -1.2641212940216064 ], [ -0.2592535614967346, 0.8996149301528931, -1.016282558441162 ], [ -0.2592535614967346, 0.8996149301528931, -1.2641212940216064 ], [ -0.293134868144989, 0.9207731485366821, -1.016282558441162 ], [ -0.293134868144989, 0.9207731485366821, -1.2641212940216064 ], [ -0.293134868144989, 0.8996149301528931, -1.016282558441162 ], [ -0.293134868144989, 0.8996149301528931, -1.2641212940216064 ] ], "center": { "x": -0.2761942148208618, "y": 0.9101940393447876, "z": -1.1402019262313843 }, "size": { "x": 0.033881306648254395, "y": 0.021158218383789062, "z": 0.24783873558044434 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ -0.2599187195301056, 0.8981783986091614, -1.0164273977279663 ], [ -0.2933165729045868, 0.8992030024528503, -1.0165143013000488 ], [ -0.29260513186454773, 0.9013646841049194, -1.2641819715499878 ], [ -0.25920727849006653, 0.9003401398658752, -1.2640949487686157 ], [ -0.25925785303115845, 0.9197354316711426, -1.0162372589111328 ], [ -0.29265570640563965, 0.9207600355148315, -1.0163242816925049 ], [ -0.291944295167923, 0.9229217171669006, -1.2639919519424438 ], [ -0.2585464417934418, 0.9218971133232117, -1.2639049291610718 ] ] } } }, { "objectId": "Microwave|+00.28|+00.90|-01.33", "object_info": { "name": "Microwave_d2cc92b9", "position": { "x": 0.2831288278102875, "y": 0.9001765251159668, "z": -1.3319166898727417 }, "rotation": { "x": -2.4062080683506792e-06, "y": 359.9886779785156, "z": 3.337432019634434e-07 }, "visible": false, "isInteractable": false, "receptacle": true, "toggleable": true, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": true, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": true, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": true, "mass": 6.999999523162842, "salientMaterials": [ "Metal", "Glass" ], "receptacleObjectIds": [], "distance": 2.2256574630737305, "objectType": "Microwave", "objectId": "Microwave|+00.28|+00.90|-01.33", "assetId": "Microwave_22", "parentReceptacles": [ "CounterTop|+00.07|+00.95|-01.20" ], "controlledObjects": [], "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 0.5889636278152466, 1.2969863414764404, -1.1667182445526123 ], [ 0.5889636278152466, 1.2969863414764404, -1.5113651752471924 ], [ 0.5889636278152466, 0.9000718593597412, -1.1667182445526123 ], [ 0.5889636278152466, 0.9000718593597412, -1.5113651752471924 ], [ -0.02160581946372986, 1.2969863414764404, -1.1667182445526123 ], [ -0.02160581946372986, 1.2969863414764404, -1.5113651752471924 ], [ -0.02160581946372986, 0.9000718593597412, -1.1667182445526123 ], [ -0.02160581946372986, 0.9000718593597412, -1.5113651752471924 ] ], "center": { "x": 0.28367891907691956, "y": 1.0985291004180908, "z": -1.3390417098999023 }, "size": { "x": 0.6105694770812988, "y": 0.3969144821166992, "z": 0.3446469306945801 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ 0.5889571905136108, 0.900080680847168, -1.1666650772094727 ], [ -0.021633237600326538, 0.9000794887542725, -1.1667864322662354 ], [ -0.021564722061157227, 0.9000777006149292, -1.5113271474838257 ], [ 0.5890257358551025, 0.9000788927078247, -1.5112056732177734 ], [ 0.5889564752578735, 1.2970123291015625, -1.166667103767395 ], [ -0.021634012460708618, 1.297011137008667, -1.1667885780334473 ], [ -0.021565496921539307, 1.2970093488693237, -1.511329174041748 ], [ 0.5890249609947205, 1.2970105409622192, -1.5112078189849854 ] ] } } }, { "objectId": "Spoon|-00.16|+00.90|-01.02", "object_info": { "name": "Spoon_c584c43d", "position": { "x": -0.15707573294639587, "y": 0.9002827405929565, "z": -1.0150365829467773 }, "rotation": { "x": 0.09374091029167175, "y": -0.0018711700104176998, "z": 0.30174174904823303 }, "visible": false, "isInteractable": false, "receptacle": false, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": true, "isPickedUp": false, "moveable": false, "mass": 0.03999999910593033, "salientMaterials": [ "Metal" ], "receptacleObjectIds": null, "distance": 1.683373212814331, "objectType": "Spoon", "objectId": "Spoon|-00.16|+00.90|-01.02", "assetId": "Spoon_1", "parentReceptacles": [ "CounterTop|+00.07|+00.95|-01.20" ], "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ -0.13747087121009827, 0.9188703894615173, -0.9248335361480713 ], [ -0.13747087121009827, 0.9188703894615173, -1.1322684288024902 ], [ -0.13747087121009827, 0.8998643755912781, -0.9248335361480713 ], [ -0.13747087121009827, 0.8998643755912781, -1.1322684288024902 ], [ -0.17888891696929932, 0.9188703894615173, -0.9248335361480713 ], [ -0.17888891696929932, 0.9188703894615173, -1.1322684288024902 ], [ -0.17888891696929932, 0.8998643755912781, -0.9248335361480713 ], [ -0.17888891696929932, 0.8998643755912781, -1.1322684288024902 ] ], "center": { "x": -0.1581798940896988, "y": 0.9093673825263977, "z": -1.0285509824752808 }, "size": { "x": 0.04141804575920105, "y": 0.019006013870239258, "z": 0.20743489265441895 } }, "objectOrientedBoundingBox": { "cornerPoints": [ [ -0.13745474815368652, 0.899789035320282, -0.9248507022857666 ], [ -0.17884565889835358, 0.8995804190635681, -0.9248526096343994 ], [ -0.1788378804922104, 0.8999130725860596, -1.1322776079177856 ], [ -0.13744696974754333, 0.9001216888427734, -1.1322757005691528 ], [ -0.13755077123641968, 0.9188451170921326, -0.9248201847076416 ], [ -0.17894169688224792, 0.9186365008354187, -0.9248220920562744 ], [ -0.17893390357494354, 0.9189692139625549, -1.1322470903396606 ], [ -0.1375429928302765, 0.919177770614624, -1.1322451829910278 ] ] } } }, { "objectId": "CounterTop|+00.07|+00.95|-01.20", "object_info": { "name": "CounterTop_c0259ed6", "position": { "x": 0.07100000232458115, "y": 0.9467999935150146, "z": -1.1990000009536743 }, "rotation": { "x": -0.0, "y": 0.0, "z": 0.0 }, "visible": true, "isInteractable": true, "receptacle": true, "toggleable": false, "isToggled": false, "breakable": false, "isBroken": false, "canFillWithLiquid": false, "isFilledWithLiquid": false, "fillLiquid": null, "dirtyable": false, "isDirty": false, "canBeUsedUp": false, "isUsedUp": false, "cookable": false, "isCooked": false, "temperature": "RoomTemp", "isHeatSource": false, "isColdSource": false, "sliceable": false, "isSliced": false, "openable": false, "isOpen": false, "openness": 0.0, "pickupable": false, "isPickedUp": false, "moveable": false, "mass": 0.0, "salientMaterials": null, "receptacleObjectIds": [ "Spoon|-00.16|+00.90|-01.02", "Fork|-00.28|+00.90|-01.12", "Bread|-00.40|+00.95|-01.29", "SoapBottle|-00.75|+00.90|-01.29", "Potato|-00.60|+00.94|-01.12", "Pan|-02.59|+00.90|-01.15", "ButterKnife|-02.22|+00.91|-01.00", "Bowl|-02.05|+00.90|-01.16", "CreditCard|+01.00|+00.90|-00.98", "Microwave|+00.28|+00.90|-01.33" ], "distance": 1.9768003225326538, "objectType": "CounterTop", "objectId": "CounterTop|+00.07|+00.95|-01.20", "assetId": "", "parentReceptacles": null, "controlledObjects": null, "isMoving": false, "axisAlignedBoundingBox": { "cornerPoints": [ [ 1.1961522102355957, 0.9178000688552856, -0.8524996042251587 ], [ 1.1961522102355957, 0.9178000688552856, -1.596152663230896 ], [ 1.1961522102355957, 0.8996709585189819, -0.8524996042251587 ], [ 1.1961522102355957, 0.8996709585189819, -1.596152663230896 ], [ -3.0461506843566895, 0.9178000688552856, -0.8524996042251587 ], [ -3.0461506843566895, 0.9178000688552856, -1.596152663230896 ], [ -3.0461506843566895, 0.8996709585189819, -0.8524996042251587 ], [ -3.0461506843566895, 0.8996709585189819, -1.596152663230896 ] ], "center": { "x": -0.9249992370605469, "y": 0.9087355136871338, "z": -1.2243261337280273 }, "size": { "x": 4.242302894592285, "y": 0.01812911033630371, "z": 0.7436530590057373 } }, "objectOrientedBoundingBox": null } } ], "Agent": { "agent_position": { "x": 1.2000000476837158, "y": 0.9009991884231567, "z": 2.4000000953674316 }, "agent_rotation": { "x": -0.0, "y": 151.0, "z": 0.0 }, "agent_cameraHorizon": -0.0, "agent_isStanding": true, "agent_inHighFrictionArea": false }, "camera_info": { "cameraPosition": { "x": 1.2000000476837158, "y": 1.5759992599487305, "z": 2.4000000953674316 }, "cameraOrthSize": -1.0, "fov": 90.0 }, "common_object": [ "Cabinet|+00.17|+02.01|-01.20", "Spoon|-00.16|+00.90|-01.02", "Bread|-00.40|+00.95|-01.29", "Fork|-00.28|+00.90|-01.12", "Microwave|+00.28|+00.90|-01.33", "CounterTop|+00.07|+00.95|-01.20", "Cabinet|-00.77|+02.01|-01.20" ], "different_object": [ "CounterTop|+00.91|+01.15|+00.79", "Cabinet|+00.24|+02.01|-01.20", "Cabinet|+01.13|+00.47|-00.90", "Cabinet|+01.12|+02.01|-01.20", "CoffeeMachine|+01.12|+01.10|+00.31", "Stool|+01.54|+00.01|+01.33", "Pot|+01.46|+01.10|+00.61", "Drawer|+00.26|+00.78|-01.08" ] }