scan_id,object_id,label,category,category_index,mobility_type,is_architectural,is_opening,is_movable,part_ids,n_parts,n_articulated_parts,is_articulated,n_movable_joints,joint_states,open_fraction,obb_center,obb_half_extents,obb_rotation_wxyz,obb_axes,aabb_min,aabb_max,volume_m3,front,up,aabb_residual_m,bbox_source,semantic_id
scene_00000_00,1,wall_cabinet.1,wall_cabinet,1,fixed,False,False,False,"[1, 10, 11, 12, 13, 17, 18, 2, 3, 4, 5, 6, 7, 8, 9, 19]",16,15,True,15,"[{""part_id"": 1, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.4811853829377406, 0.8572279858589172, 0.9886049665923767], ""axis"": [0.02977539182170522, 0, -0.9995566147256812], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 10, ""label"": ""door.10"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.6579818811890723, 1.0661540088653565, 0.11951652566671325], ""axis"": [0.025443425132639037, -0.0, 0.9996762636561497], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 11, ""label"": ""door.11"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.6018897367099232, 0.9559490084648132, -0.8710090981962925], ""axis"": [-0.01884585637312465, -0.0, -0.9998224010780933], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 12, ""label"": ""door.12"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.1541381816114906, 1.016720025062561, -0.8938838489905685], ""axis"": [-0.0, -2.220446049250313e-16, 1.0], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5533430342749532, ""range"": 1.5533430342749532, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 13, ""label"": ""door.13"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.6807419415226981, 1.05804301738739, -0.9051883332298588], ""axis"": [-0.0, -2.220446049250313e-16, 1.0], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5882496193148399, ""range"": 1.5882496193148399, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 17, ""label"": ""door.14"", 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scene_00000_00,2,bag.1,bag,1,movable,False,False,True,[14],1,0,False,0,,,"[0.09693120858653177, 0.9104652242483331, -0.6495804935693742]","[0.12611828348051224, 0.16641549766063693, 0.07951406141527144]","[0.7046620182066013, 0.7046620182066015, 0.058748958263098956, 0.05874895826309897]","[0.9861942396120026, 0.16559263798884283, 3.6768951880726337e-17, 0.0, -2.220446049250313e-16, 1.0, 0.16559263798884283, -0.9861942396120026, -2.1897911031398878e-16]","[-0.040612859278664634, 0.8111646556522747, -0.8159959912300112]","[0.23447527645172817, 1.0097657928443915, -0.48316499590873724]",0.013350752446473104,"[0.16559263798884283, -0.9861942396120026, -2.1897911031398878e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,12
scene_00000_00,3,curtain.1,curtain,1,fixed,False,False,False,[15],1,0,False,0,,,"[-1.4800077798842617, 0.8821286047790973, 0.2181085050106049]","[0.8478127751471759, 0.5072585046291351, 0.11118021052234582]","[0.04224146386845906, 0.04224146386845907, -0.7058439336923209, -0.7058439336923211]","[-0.9928626349209987, -0.11926352408734078, -2.648182208794054e-17, 0.0, -2.220446049250313e-16, 1.0, -0.11926352408734078, 0.9928626349209987, 2.2045979151585875e-16]","[-2.3350291494522386, 0.6706287886784891, -0.2891499996185303]","[-0.624986410316285, 1.0936284208797054, 0.72536700963974]",0.3825135046323344,"[0.11926352408734078, -0.9928626349209987, -2.2045979151585875e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,103
scene_00000_00,4,handkerchief.1,handkerchief,1,movable,False,False,True,[16],1,0,False,0,,,"[-0.6085185110569, 0.8853405117988586, -0.27007101103663445]","[0.09453549981117249, 0.31506701186299324, 0.05799150466918945]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[-0.7030540108680725, 0.8273490071296691, -0.5851380228996277]","[-0.5139830112457275, 0.9433320164680482, 0.044996000826358795]",0.013818223823772196,"[0, -1, -2.220446049250313e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,167
scene_00000_00,5,shelf.1,shelf,1,movable,False,False,True,[20],1,0,False,0,,,"[-1.93917795639654, 0.6942109485127193, -0.9126465022563934]","[0.440559222710596, 0.3681454956531524, 0.17501708406239125]","[0.7060964678308947, 0.7060964678308949, 0.037785951314399165, 0.03778595131439918]","[0.9942888875330634, 0.10672210702690965, 2.369706809155706e-17, 0.0, -2.220446049250313e-16, 1.0, 0.10672210702690965, -0.9942888875330634, -2.2077648321362796e-16]","[-2.395899287814734, 0.4731759981832312, -1.280791997909546]","[-1.482456624978346, 0.9152458988422073, -0.544501006603241]",0.2270880176711698,"[0.10672210702690965, -0.9942888875330634, -2.2077648321362796e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,316
scene_00000_00,6,box.1,box,1,movable,False,False,True,[21],1,0,False,0,,,"[-1.4036270174213623, 0.6944895158028948, -0.9019734859466554]","[0.2891898085853972, 0.3891044855117797, 0.1777450137860106]","[0.7063193405061065, 0.7063193405061066, 0.03336149317729677, 0.03336149317729678]","[0.9955480430919248, 0.09425547143714892, 2.0928918917284305e-17, 0.0, -2.220446049250313e-16, 1.0, 0.09425547143714892, -0.9955480430919248, -2.2105607191223449e-16]","[-1.7082828055106858, 0.49027809341584916, -1.291077971458435]","[-1.0989712293320388, 0.8987009381899403, -0.5128690004348757]",0.16000613490399165,"[0.09425547143714892, -0.9955480430919248, -2.2105607191223449e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,50
scene_00000_00,7,floor.1,floor,1,arch,True,False,False,[22],1,0,False,0,,,"[-0.6055812706102645, -0.048179548284797494, -1.2779669761657715]","[1.6121961143735726, 0.04775500297546401, 0.9352874437943774]","[0.7025788845621033, 0.7025788845621034, 0.07989312215372939, 0.0798931221537294]","[0.9744683561301172, 0.22452488258780426, 4.985453885004804e-17, 0.0, -2.220446049250313e-16, 1.0, 0.2245248825878043, -0.9744683561301172, -2.1637544114885658e-16]","[-2.3866106714470225, -1.3215657094364845, -1.3257219791412358]","[1.1754481302264934, 1.2252066128668895, -1.2302119731903072]",0.5760654615584713,"[0.2245248825878043, -0.9744683561301172, -2.1637544114885658e-16]","[0, -2.220446049250313e-16, 1]",4.440892098500626e-16,annotation,145
scene_00000_00,8,slippers.1,slippers,1,movable,False,False,True,[23],1,0,False,0,,,"[-1.606604516506195, 0.3493795096874237, -1.2544654607772827]","[0.1296284794807434, 0.033362507820129395, 0.12233850359916687]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[-1.7362329959869385, 0.22704100608825684, -1.287827968597412]","[-1.4769760370254517, 0.4717180132865906, -1.2211029529571533]",0.004232649109044241,"[0, -1, -2.220446049250313e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,338
scene_00000_00,9,door.1,door,1,fixed,False,True,False,"[24, 25]",2,1,True,1,"[{""part_id"": 24, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.9424015338707976, -1.242286029815674, -0.33617481024104423], ""axis"": [0, 2.220446049250313e-16, -1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}]",0.0,"[-1.5438621373291554, -1.1474839543366018, -0.33200597763061523]","[0.4531702805556466, 0.9559249877929688, 0.1048654607334347]","[0.7061132351459047, 0.7061132351459048, 0.03747131104971068, 0.03747131104971069]","[0.9943836033928634, 0.10583595468187881, 2.35003027442013e-17, 0.0, -2.220446049250313e-16, 1.0, 0.10583595468187881, -0.9943836033928634, -2.2079751435929737e-16]","[-2.0055857700085125, -1.2997221583282292, -1.287930965423584]","[-1.0821385046497984, -0.9952457503449742, 0.6239190101623535]",0.36341905189044266,"[0.10583595468187881, -0.9943836033928634, -2.2079751435929737e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,118
scene_00000_00,10,mop.1,mop,1,movable,False,False,True,[26],1,0,False,0,,,"[-1.9948906654059426, -0.8968764910922321, -0.6471919741015881]","[0.252004168768993, 0.6400239740032703, 0.26009917159767165]","[0.34952547333841333, 0.34952547333841344, -0.6146803587943559, -0.6146803587943561]","[-0.5113277739502325, -0.859385773437692, -1.9082197454116478e-16, 0.0, -2.220446049250313e-16, 1.0, -0.859385773437692, 0.5113277739502325, 1.135375735539751e-16]","[-2.3472729238027386, -1.246441218998633, -1.2872159481048584]","[-1.6425084070091467, -0.5473117631858313, -0.0071680000983178616]",0.33560847795882565,"[0.5113277739502325, 0.859385773437692, 1.9082197454116478e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,210
scene_00000_00,11,rag.1,rag,1,movable,False,False,True,[27],1,0,False,0,,,"[-1.9568199167049252, -1.1799026402543626, -0.020907983183860758]","[0.08685723115564871, 0.5173919945955276, 0.026865576087915177]","[0.3293020154875183, 0.3293020154875184, 0.6257476988338496, 0.6257476988338497]","[-0.5662407303834329, 0.8242399136506533, 1.8301802599000123e-16, 0.0, -2.220446049250313e-16, 1.0, 0.8242399136506533, 0.5662407303834329, 1.2573069927045053e-16]","[-2.0281456988284607, -1.2667062203882222, -0.5382999777793884]","[-1.8854941345813898, -1.093099060120503, 0.49648401141166687]",0.009658547728343904,"[0.8242399136506533, 0.5662407303834329, 1.2573069927045053e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,285
scene_00000_00,12,wall.1,wall,1,arch,True,False,False,[28],1,0,False,0,,,"[-0.6852210566548489, -0.9727444187889391, 0.015766024589538644]","[1.4690487167968018, 1.2643409967422485, 0.08807334984732915]","[0.7057672564561113, 0.7057672564561114, 0.0435037896557717, 0.0435037896557717]","[0.9924296811423455, 0.122814201083191, 2.7270230758700496e-17, 0.0, -2.220446049250313e-16, 1.0, 0.12281420108319101, -0.9924296811423455, -2.203636564651269e-16]","[-2.153965264346291, -1.2405710698007486, -1.24857497215271]","[0.783523151036593, -0.7049177677771297, 1.280107021331787]",1.3086843847222092,"[-0.12281420108319101, 0.9924296811423455, 2.203636564651269e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,417
scene_00000_00,13,wall.2,wall,2,arch,True,False,False,[29],1,0,False,0,,,"[-2.28852812075386, -0.16678142133673118, 0.020790457725524864]","[0.9685649070564958, 1.2414594888687132, 0.07948788526752328]","[0.5231005848334439, 0.523100584833444, -0.4757791274813439, -0.475779127481344]","[0.09453688741236434, -0.9955213593481468, -2.2105014693088938e-16, 0.0, -2.220446049250313e-16, 1.0, -0.9955213593481468, -0.09453688741236434, -2.0991405816320605e-17]","[-2.4592251199170616, -1.1385230114867084, -1.2206690311431885]","[-2.1178311215906587, 0.804960168813246, 1.2622499465942383]",0.7646315467315357,"[0.9955213593481468, 0.09453688741236434, 2.0991405816320605e-17]","[0, -2.220446049250313e-16, 1]",0.0,annotation,417
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scene_00108_00,15,pillar.2,pillar,2,arch,True,False,False,[15],1,0,False,0,,,"[-1.7832888047800353, -0.3656202665735715, 0.027450501918792503]","[0.2781268909838234, 1.3371414542198181, 0.09445714455330766]","[0.7066925393019737, 0.706692539301974, 0.02420030774449362, 0.024200307744493624]","[0.9976573804202873, 0.06840870772738168, 1.5189784480758402e-17, 0.0, -2.220446049250313e-16, 1.0, 0.06840870772738168, -0.9976573804202873, -2.2152443888596436e-16]","[-2.0672258414579057, -0.4788824351670429, -1.3096909523010256]","[-1.4993517681021649, -0.2523580979801001, 1.3645919561386106]",0.28102511476438896,"[0.9976573804202872, 0.06840870772738167, 1.51897844807584e-17]","[0, -2.220446049250313e-16, 1]",5.551115123125783e-17,annotation,251
scene_00108_00,16,door.1,door,1,fixed,False,True,False,"[17, 16]",2,1,True,1,"[{""part_id"": 17, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-2.0586829266465094, 0.7680365937321019, -0.23467499017715443], ""axis"": [0, -2.220446049250313e-16, 1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.6406094968746698, ""range"": 1.6406094968746698, ""is_closed"": true, ""open_fraction"": 0.0}]}]",0.0,"[-2.0558527482415796, 0.31479508073444323, -0.1807394921779633]","[0.5703426769897949, 1.131675511598587, 0.025419731696125557]","[0.5047946839242523, 0.5047946839242524, -0.49515889074297564, -0.49515889074297575]","[0.019270691672743506, -0.9998143029795353, -2.2200337190348647e-16, 0.0, -2.220446049250313e-16, 1.0, -0.9998143029795353, -0.019270691672743506, -4.2789531191064226e-18]","[-2.0922586574453454, -0.2559315411315109, -1.3124150037765505]","[-2.0194468390378137, 0.8855217026003974, 0.950936019420624]",0.1312558707002511,"[0.9998143029795353, 0.019270691672743506, 4.2789531191064226e-18]","[0, -2.220446049250313e-16, 1]",0.0,annotation,118
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scene_00108_00,18,door.3,door,3,fixed,False,True,False,"[21, 20]",2,1,True,1,"[{""part_id"": 21, ""label"": ""door.3"", ""articulations"": [{""type"": ""rotation"", ""origin"": [1.5687433523645415, 1.605434750775808, -0.2991104722023011], ""axis"": [0, 2.220446049250313e-16, -1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5184364492350666, ""range"": 1.5184364492350666, ""is_closed"": true, ""open_fraction"": 0.0}]}]",0.0,"[1.511722981929779, 1.8926455378532407, -0.23713800311088548]","[0.06217700242996216, 1.0753460228443144, 0.453233540058136]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[1.449545979499817, 1.4394119977951045, -1.3124840259551998]","[1.5738999843597412, 2.345879077911377, 0.8382080197334288]",0.24243205446103913,"[-1, 0, 0]","[0, -2.220446049250313e-16, 1]",0.0,annotation,118
scene_00108_00,19,slippers.1,slippers,1,movable,False,False,True,[22],1,0,False,0,,,"[1.430360496044159, 1.8837295174598694, -1.3051040172576902]","[0.1318334937095642, 0.012338042259216309, 0.20336955785751343]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[1.2985270023345947, 1.680359959602356, -1.3174420595169065]","[1.5621939897537231, 2.087099075317383, -1.292765974998474]",0.0026463540452728723,"[-1, 0, 0]","[0, -2.220446049250313e-16, 1]",0.0,annotation,338
scene_00108_00,20,door.4,door,4,fixed,False,True,False,"[24, 23]",2,1,True,1,"[{""part_id"": 24, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.1276863799969263, 1.0317901017187485, -0.2761735022068025], ""axis"": [0, -2.220446049250313e-16, 1], ""state"": 1.2566370614359172, ""range_min"": 0.0, ""range_max"": 1.53588974175501, ""range"": 1.53588974175501, ""is_closed"": false, ""open_fraction"": 0.8181818181818182}]}]",0.8181818181818182,"[-0.736685499548912, 1.3912090063095093, -0.22609302401542647]","[0.4555184990167618, 1.082513004541397, 0.5239109992980955]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[-1.1922039985656738, 0.8672980070114136, -1.3086060285568237]","[-0.28116700053215027, 1.915120005607605, 0.8564199805259709]",2.0667438048717113,"[0, 1, 2.220446049250313e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,118
scene_00108_00,21,toilet.1,toilet,1,fixed,False,False,False,[25],1,0,False,0,,,"[-0.2342330628496395, 2.687285416461728, -1.096192479133606]","[0.22183652126609046, 0.21833348274230965, 0.22015473483460404]","[0.4909489972888246, 0.49094899728882474, -0.5088900490883053, -0.5088900490883053]","[-0.03587632824439087, -0.9993562373206567, -3.722381442009647e-16, 2.0816681711721688e-17, -9.714451465470117e-17, 1.0, -0.9993562373206567, 0.03587632824439094, -1.854223306044203e-17]","[-0.46220475013581236, 2.457693361737461, -1.3145259618759157]","[-0.00626137556346662, 2.916877471185995, -0.8778589963912962]",0.08530439474300487,"[-0.9993562373206567, 0.03587632824439094, -1.854223306044203e-17]","[2.0816681711721688e-17, -9.714451465470117e-17, 1]",0.0,annotation,386
scene_00108_00,22,towel.1,towel,1,movable,False,False,True,[26],1,0,False,0,,,"[-0.6664479114036611, 2.9803876180502566, -0.6189410015940666]","[0.19921583960799435, 0.402491994202137, 0.04316667118700912]","[0.7068984227806334, 0.7068984227806335, 0.017164494465402445, 0.01716449446540245]","[0.9988215205189888, 0.04853421626167962, 1.0776760875170681e-17, 0.0, -2.220446049250313e-16, 1.0, 0.048534216261679614, -0.9988215205189888, -2.217829299142579e-16]","[-0.8675240397870722, 2.9276030332572183, -1.0214329957962036]","[-0.46537178302025006, 3.033172202843295, -0.21644900739192963]",0.02768978978651295,"[0.048534216261679614, -0.9988215205189888, -2.217829299142579e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,395
scene_00108_00,23,cabinet.4,cabinet,4,fixed,False,False,False,[27],1,0,False,0,,,"[0.06305600702762604, 1.771769464015961, -0.7252834886312483]","[0.31273700296878815, 0.44265748560428614, 0.5728924870491029]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[-0.2496809959411621, 1.198876976966858, -1.1679409742355344]","[0.3757930099964142, 2.344661951065064, -0.282626003026962]",0.6344686920201192,"[-1, 0, 0]","[0, -2.220446049250313e-16, 1]",0.0,annotation,57
scene_00108_00,24,wall_cabinet.1,wall_cabinet,1,fixed,False,False,False,"[29, 30, 31, 32, 28]",5,4,True,4,"[{""part_id"": 29, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.2554827584893687, -2.7157845772622347, 0.6438624933362007], ""axis"": [0, 2.220446049250313e-16, -1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5882496193148399, ""range"": 1.5882496193148399, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 30, ""label"": ""door.2"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.7433761313553493, -2.7234377671173498, 0.6448702903181915], ""axis"": [0.001063866820750146, -0.03158314474050392, 0.9995005618586158], ""state"": 0, ""range_min"": 0, ""range_max"": 1.605702911834783, ""range"": 1.605702911834783, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 31, ""label"": ""door.3"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.7297247736421922, -2.7180328904898654, 0.6596530303359032], ""axis"": [0, 2.220446049250313e-16, -1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5533430342749532, ""range"": 1.5533430342749532, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 32, ""label"": ""door.4"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.8146870190473232, -2.6985500120685946, 0.6499525010585785], ""axis"": [0, -2.220446049250313e-16, 1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.6231562043547265, ""range"": 1.6231562043547265, ""is_closed"": true, ""open_fraction"": 0.0}]}]",0.0,"[-0.9406090080738068, -2.7838504314422607, 0.6526955291628838]","[1.197041004896164, 0.4798945263028145, 0.25653648376464844]","[0.0, 0.0, 0.7071067811865475, 0.7071067811865476]","[-1.0, 0.0, 0.0, 0.0, -2.220446049250313e-16, 1.0, 0.0, 1.0, 2.220446049250313e-16]","[-2.1376500129699707, -3.040386915206909, 0.17280100286006922]","[0.2564319968223572, -2.5273139476776123, 1.1325900554656982]",1.1789460959606513,"[0, 1, 2.220446049250313e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,419
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scene_00114_00,26,microwave.1,microwave,1,movable,False,False,True,"[41, 40]",2,1,True,1,"[{""part_id"": 41, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [1.3470797722488417, -0.6835613677185136, 0.3724934980273247], ""axis"": [-0.0, 2.220446049250313e-16, -1.0], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}]",0.0,"[1.193380611740807, -0.8970642717647843, 0.37726800143718714]","[0.5437139942389595, 0.24458099901676178, 0.2246251420083347]","[0.6863875435349429, 0.6863875435349431, 0.1699180393015017, 0.16991803930150173]","[0.8845114396797334, 0.46651850239372666, 1.0358791655423231e-16, 0.0, -2.220446049250313e-16, 1.0, 0.46651850239372666, -0.8845114396797334, -1.9640099317535707e-16]","[0.6076675790727801, -1.3494004178337118, 0.13268700242042525]","[1.7790936444088339, -0.44472812569585685, 0.621849000453949]",0.2389690061435204,"[-0.46651850239372666, 0.8845114396797334, 1.9640099317535707e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,207
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scene_00114_00,28,cabinet.2,cabinet,2,fixed,False,False,False,"[48, 49, 50, 51, 56, 52, 53, 54, 55]",9,8,True,8,"[{""part_id"": 49, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.23310297417023076, -0.9451777269805695, -0.8726369379555212], ""axis"": [0.037148612907881955, 0.019164401743696484, 0.9991259711692146], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5533430342749532, ""range"": 1.5533430342749532, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 50, ""label"": ""door.2"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.2364293336753993, -0.9285431973127731, -0.854944857768919], ""axis"": [-0.006501281640289156, -0.04591796151790527, -0.9989240582482103], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 51, ""label"": ""door.3"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.06706852427365688, -0.6150271742984614, -0.8327842525459367], ""axis"": [0.012910530552672037, -0.003853742803678676, -0.9999092293139674], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5882496193148399, ""range"": 1.5882496193148399, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 56, ""label"": ""door.4"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.5247977303012266, 0.5149806834843832, -0.8551489710807798], ""axis"": [0, -2.220446049250313e-16, 1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 52, ""label"": ""drawer.1"", ""articulations"": [{""type"": ""translation"", ""origin"": [-0.21478150991943093, -0.07519788514782569, -0.5436353998912686], ""axis"": [0.8840784330533912, 0.46707383459980045, -0.015727594924175442], ""state"": 0.0, ""range_min"": 0.0, ""range_max"": 0.3580000000000002, ""range"": 0.3580000000000002, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 53, ""label"": ""drawer.2"", ""articulations"": [{""type"": ""translation"", ""origin"": [-0.21525330957979893, -0.07844102730009844, -0.694603091219157], ""axis"": [0.8846984858230018, 0.46598454799341676, -0.01292246934059504], ""state"": 0.0004905516740055, ""range_min"": 0.0, ""range_max"": 0.3740000000000005, ""range"": 0.3740000000000005, ""is_closed"": true, ""open_fraction"": 0.001311635491993314}]}, {""part_id"": 54, ""label"": ""drawer.3"", ""articulations"": [{""type"": ""translation"", ""origin"": [-0.21970657032978583, -0.07512407041745216, -0.8328405022621154], ""axis"": [0.8835283167415325, 0.46837774660617076, 1.0400075170084361e-16], ""state"": 3.70676849474e-05, ""range_min"": 0.0, ""range_max"": 0.3570000000000004, ""range"": 0.3570000000000004, ""is_closed"": true, ""open_fraction"": 0.00010383105027282903}]}, {""part_id"": 55, ""label"": ""drawer.4"", ""articulations"": [{""type"": ""translation"", ""origin"": [-0.2200006563033184, -0.08174306327729347, -1.0696034618892172], ""axis"": [0.8892389532215887, 0.4572078986226238, -0.014663611780780872], ""state"": 0.0, ""range_min"": 0.0, ""range_max"": 0.33800000000000024, ""range"": 0.33800000000000024, ""is_closed"": true, ""open_fraction"": 0.0}]}]",0.00017693331778326788,"[-0.27590485065735637, -0.6033102230668088, -0.8632850199937818]","[1.1706721882953997, 0.4845250099897384, 0.6847292619140193]","[0.6063607259583464, 0.6063607259583466, -0.36376732950509316, -0.3637673295050932]","[0.47069331993893193, -0.8822968879945494, -1.9590926392133432e-16, 0.0, -2.220446049250313e-16, 1.0, -0.8822968879945494, -0.47069331993893193, -1.045149122666915e-16]","[-1.4310669264318365, -1.9584881412112534, -1.3478100299835205]","[0.8792572251171237, 0.7518676950776357, -0.37876001000404314]",3.1071368020755648,"[0.8822968879945494, 0.47069331993893193, 1.045149122666915e-16]","[0, -2.220446049250313e-16, 1]",2.220446049250313e-16,annotation,57
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scene_00114_04,24,cabinet.1,cabinet,1,fixed,False,False,False,"[30, 31, 32, 70, 71, 63]",6,5,True,5,"[{""part_id"": 31, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.6760015812278977, 0.6884205764714542, -0.8471959470131634], ""axis"": [0.0002473547093738427, 0.028628440162574875, -0.9995900916023056], ""state"": 1.3264502315156905, ""range_min"": 0.0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": false, ""open_fraction"": 0.8444444444444446}]}, {""part_id"": 32, ""label"": ""door.2"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.4686140785337596, 0.9033452330801987, -0.8526410560607909], ""axis"": [-0.0, 2.220446049250313e-16, -1.0], ""state"": 1.5707963267948966, ""range_min"": 0.0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": false, ""open_fraction"": 1.0}]}, {""part_id"": 70, ""label"": ""door.3"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.8232722331688398, 1.5174303125764068, -1.0063310301348527], ""axis"": [0.013577160739846814, -0.01186486168832417, 0.9998374296671244], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5533430342749532, ""range"": 1.5533430342749532, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 71, ""label"": ""door.4"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.15815240040286643, 2.120109987664036, -0.8672290267944334], ""axis"": [-0.0, 2.220446049250313e-16, -1.0], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 63, ""label"": ""door.5"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.6599684359963107, 1.7190378505400576, -1.2236505459867186], ""axis"": [0.7228138656174897, 0.6910236852755908, -0.005136346877191722], ""state"": 0.6806784082777886, ""range_min"": 0.0, ""range_max"": 1.4486232791552935, ""range"": 1.4486232791552935, ""is_closed"": false, ""open_fraction"": 0.46987951807228917}]}]",0.4628647925033468,"[-0.8422018152376003, 1.5946752241139894, -0.8503844738006592]","[0.5615937977477097, 0.47477948665618885, 1.2932602112037368]","[0.6465727247494915, 0.6465727247494917, -0.2862581206010028, -0.2862581206010028]","[0.672225153559927, -0.7403467720746357, -1.643900065128347e-16, 0.0, -2.220446049250313e-16, 1.0, -0.7403467720746357, -0.672225153559927, -1.4926396864288248e-16]","[-2.1771803149841054, 0.3095390246649612, -1.3251639604568484]","[0.49277668450890455, 2.8798114235630177, -0.37560498714447005]",2.758609023599592,"[0.672225153559927, -0.7403467720746357, -1.643900065128347e-16]","[0, -2.220446049250313e-16, 1]",2.220446049250313e-16,annotation,57
scene_00114_04,25,cabinet.2,cabinet,2,fixed,False,False,False,"[33, 72, 34, 64, 39, 35, 36, 37, 38]",9,8,True,8,"[{""part_id"": 72, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.8786083597719295, 1.0332617960903985, -1.0036849842071538], ""axis"": [0, -2.220446049250313e-16, 1], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 34, ""label"": ""door.2"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.8838256675873792, 1.0203897234119583, -0.8618260386238097], ""axis"": [0.011224779707955025, -0.0029345899924431624, -0.9999326939859924], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5533430342749532, ""range"": 1.5533430342749532, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 64, ""label"": ""door.3"", ""articulations"": [{""type"": ""rotation"", ""origin"": [0.628609382657345, 0.7298768747527113, -0.9498509750366211], ""axis"": [-0.0, 2.220446049250313e-16, -1.0], ""state"": 1.239183768915974, ""range_min"": 0.0, ""range_max"": 1.4486232791552935, ""range"": 1.4486232791552935, ""is_closed"": false, ""open_fraction"": 0.8554216867469879}]}, {""part_id"": 39, ""label"": ""door.4"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-0.31202560912335414, -0.14400480107085045, -0.8716421816218572], ""axis"": [0.01637655294721751, -0.01019142011661743, 0.9998139544283096], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 35, ""label"": ""drawer.1"", ""articulations"": [{""type"": ""translation"", ""origin"": [0.19310360828095763, 0.3573714316089297, -0.548043996095657], ""axis"": [-0.6767012535300807, 0.7362559158905435, 0.001624742131600021], ""state"": 0.0, ""range_min"": 0.0, ""range_max"": 0.342, ""range"": 0.342, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 36, ""label"": ""drawer.2"", ""articulations"": [{""type"": ""translation"", ""origin"": [0.18209948051761665, 0.3375797783430882, -0.7002564966678616], ""axis"": [-0.6685603043787637, 0.7436578763741315, -0.0002869071138407453], ""state"": 0.0001903480949477, ""range_min"": 0.0, ""range_max"": 0.33999999999999975, ""range"": 0.33999999999999975, ""is_closed"": true, ""open_fraction"": 0.000559847338081471}]}, {""part_id"": 37, ""label"": ""drawer.3"", ""articulations"": [{""type"": ""translation"", ""origin"": [0.18673800906611565, 0.33660458463090587, -0.8472515046596525], ""axis"": [-0.6685603043787637, 0.7436578763741315, -0.0002869071138407453], ""state"": 0.0001903480949477, ""range_min"": 0.0, ""range_max"": 0.3039999999999997, ""range"": 0.3039999999999997, ""is_closed"": true, ""open_fraction"": 0.0006261450491700664}]}, {""part_id"": 38, ""label"": ""drawer.4"", ""articulations"": [{""type"": ""translation"", ""origin"": [0.1888791086681866, 0.33447942056827706, -1.0783064663410187], ""axis"": [-0.6685603043787637, 0.7436578763741315, -0.0002869071138407453], ""state"": 0.0001903480949475, ""range_min"": 0.0, ""range_max"": 0.3040000000000005, ""range"": 0.3040000000000005, ""is_closed"": true, ""open_fraction"": 0.0006261450491694069}]}]",0.10715422802292611,"[0.6799717353331327, 0.3925029768096998, -0.8458024859428405]","[0.6707427629307966, 0.5057634711265565, 1.233345868172893]","[0.6546714233564631, 0.6546714233564632, -0.26721775285415195, -0.267217752854152]","[0.7143786902383095, -0.6997593064285731, -1.5537777873854643e-16, 0.0, -2.220446049250313e-16, 1.0, -0.6997593064285731, -0.7143786902383095, -1.5862393404082675e-16]","[-0.6622378504354047, -0.9579315196869215, -1.3515659570693974]","[2.0221813211016704, 1.7429374733063212, -0.3400390148162836]",3.3471742733303764,"[-0.7143786902383095, 0.6997593064285731, 1.5537777873854643e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,57
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scene_00114_04,27,wall_cabinet.3,wall_cabinet,3,fixed,False,False,False,"[43, 44, 42]",3,2,True,2,"[{""part_id"": 43, ""label"": ""door.1"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-2.33723678542465, 0.07336305206870511, 0.7985949926376344], ""axis"": [-0.0, 2.220446049250313e-16, -1.0], ""state"": 0, ""range_min"": 0, ""range_max"": 1.5707963267948966, ""range"": 1.5707963267948966, ""is_closed"": true, ""open_fraction"": 0.0}]}, {""part_id"": 44, ""label"": ""door.2"", ""articulations"": [{""type"": ""rotation"", ""origin"": [-1.7085349394057179, 0.6544991699423385, 0.7533980107307434], ""axis"": [0, -2.220446049250313e-16, 1], ""state"": 1.7278759594743864, ""range_min"": 0.0, ""range_max"": 1.7278759594743864, ""range"": 1.7278759594743864, ""is_closed"": false, ""open_fraction"": 1.0}]}]",0.5,"[-2.0636415776635237, 0.45506222547752445, -0.054291486740112346]","[0.5191926548259801, 1.1661545038223267, 0.4853978227988887]","[0.2691279919847458, 0.26912799198474585, 0.6538884644419556, 0.6538884644419556]","[-0.7102804957210344, 0.7039187576690095, 1.5630136244593406e-16, 0.0, -2.220446049250313e-16, 1.0, 0.7039187576690095, 0.7102804957210344, 1.5771395205833246e-16]","[-2.7740946263078765, -0.25517582929796007, -1.220445990562439]","[-1.353188529019171, 1.165300280253009, 1.1118630170822144]",2.351107271457324,"[0.7102804957210344, -0.7039187576690095, -1.5630136244593406e-16]","[0, -2.220446049250313e-16, 1]",0.0,annotation,419
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