configs/scenes/Baked_sc1_staging_09.scene_instance.json

{
  "stage_instance": {
    "template_name": "Baked_sc1_staging_09",
    "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_09",
  "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": [
        -0.5162895917892456,
        0.05,
        3.8761439323425293
      ],
      "rotation": [
        0.0007283607457566557,
        -2.1114581646042987e-08,
        0.9999997347452625,
        1.6858738072222931e-07
      ]
    },
    {
      "template_name": "chestOfDrawers_01",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        4.166500091552734,
        0.0,
        4.615927696228027
      ],
      "rotation": [
        -0.005421370162856197,
        0.005421328016007885,
        0.7070861036544851,
        0.7070858929202442
      ],
      "uniform_scale": 0.4
    }
  ]
}