configs/scenes/Baked_sc0_staging_00.scene_instance.json

{
  "stage_instance": {
    "template_name": "Baked_sc0_staging_00",
    "translation": [
      0.0,
      0.0,
      0.0
    ],
    "rotation": [
      1.0,
      0.0,
      0.0,
      0.0
    ],
    "translation_origin": "COM"
  },
  "default_lighting": "no_lights",
  "navmesh_instance": "Baked_sc0_staging_00",
  "articulated_object_instances": [
    {
      "template_name": "fridge",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        0.535,
        1.01,
        4.4597649574279785
      ],
      "rotation": [
        1,
        0,
        0,
        0
      ]
    },
    {
      "template_name": "kitchen_counter",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        0.735,
        0.03,
        6.373764820098877
      ],
      "rotation": [
        1,
        0,
        0,
        0
      ],
      "uniform_scale": 0.98
    },
    {
      "template_name": "kitchenCupboard_01",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        0.435,
        1.53,
        6.373764820098877
      ],
      "rotation": [
        -0.707,
        0.707,
        0,
        0
      ],
      "uniform_scale": 0.38
    },
    {
      "template_name": "door2",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        -0.35,
        2.4,
        -2.65
      ],
      "rotation": [
        1,
        0,
        0,
        0
      ]
    },
    {
      "template_name": "cabinet",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        2.7415575981140137,
        0.05,
        7.787896633148193
      ],
      "rotation": [
        0.022600079540851296,
        -1.18538013710312e-08,
        0.9997445855840974,
        1.685873962098405e-07
      ]
    },
    {
      "template_name": "chestOfDrawers_01",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        -2.333279848098755,
        0.0,
        -0.4101424217224121
      ],
      "rotation": [
        0.7071068549435273,
        -0.7071067074295597,
        1.66558605942409e-16,
        -2.107342393432203e-08
      ],
      "uniform_scale": 0.4
    }
  ]
}