configs/scenes/Baked_sc1_staging_02.scene_instance.json

{
  "stage_instance": {
    "template_name": "Baked_sc1_staging_02",
    "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_sc1_staging_02",
  "articulated_object_instances": [
    {
      "template_name": "fridge",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        -2.1782121658325195,
        1.01,
        -1.04
      ],
      "rotation": [
        1,
        0,
        0,
        0
      ]
    },
    {
      "template_name": "kitchen_counter",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        -2,
        0.03,
        0.87
      ],
      "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": [
        -2.3,
        1.53,
        0.87
      ],
      "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": [
        2.214672088623047,
        0.05,
        7.842538833618164
      ],
      "rotation": [
        -0.028105096210571386,
        -2.107342403183388e-08,
        0.999604973760618,
        1.6858739265712688e-07
      ]
    },
    {
      "template_name": "chestOfDrawers_01",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        3.8668131828308105,
        0.0,
        7.43639612197876
      ],
      "rotation": [
        0.23358999209093384,
        -0.23358994994408536,
        0.6674098186917227,
        0.6674096079574814
      ],
      "uniform_scale": 0.4
    }
  ]
}