diff --git a/.gitattributes b/.gitattributes index 28df5f900b358436f0267334b3e3e9af33f917ba..f9f4038efea0d333898e335b391f496fc4705631 100644 --- a/.gitattributes +++ b/.gitattributes @@ -53,3 +53,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.jpg filter=lfs diff=lfs merge=lfs -text *.jpeg filter=lfs diff=lfs merge=lfs -text *.webp filter=lfs diff=lfs merge=lfs -text +*.glb filter=lfs diff=lfs merge=lfs -text diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000000000000000000000000000000000000..7319f4f44bbd7d2815299b0921089347b0ca9dc9 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,28 @@ +CC BY-NC 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) + +Copyright (c) Facebook, Inc. and its affiliates. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this material, to copy and redistribute the material in any medium or format, +and to remix, transform, and build upon the material subject to the following +conditions: + +- Attribution: You must give appropriate credit, provide a link to the license, +and indicate if changes were made. You may do so in any reasonable manner, +but not in any way that suggests the licensor endorses you or your use. + +- NonCommercial: You may not use the material for commercial purposes. + +- No additional restrictions: You may not apply legal terms or technological +measures that legally restrict others from doing anything the license permits. + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE MATERIAL IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +MATERIAL. diff --git a/configs/ReplicaCAD_baked_object_counts.json b/configs/ReplicaCAD_baked_object_counts.json new file mode 100644 index 0000000000000000000000000000000000000000..3574dde0eed8e7a2e6e9bc6320ff936d2a2dcf11 --- /dev/null +++ b/configs/ReplicaCAD_baked_object_counts.json @@ -0,0 +1,45 @@ +{ + "frl_apartment_beanbag_01": 72, + "frl_apartment_beanbag_02": 54, + "frl_apartment_bike_01": 42, + "frl_apartment_bike_02": 84, + "frl_apartment_blinds": 105, + "frl_apartment_cabinet": 105, + "frl_apartment_camera_02": 104, + "frl_apartment_ceiling": 105, + "frl_apartment_chair_01": 105, + "frl_apartment_chair_01.999": 105, + "frl_apartment_clothes_hanger_02": 105, + "frl_apartment_door_01": 105, + "frl_apartment_door_04": 105, + "frl_apartment_door_05": 105, + "frl_apartment_door_06": 105, + "frl_apartment_door_part_00": 105, + "frl_apartment_door_part_01": 105, + "frl_apartment_door_part_02": 105, + "frl_apartment_door_part_03": 105, + "frl_apartment_door_part_04": 105, + "frl_apartment_floor": 105, + "frl_apartment_indoor_plant_01": 105, + "frl_apartment_indoor_plant_02": 105, + "frl_apartment_kitchen_cabinet": 105, + "frl_apartment_mat": 105, + "frl_apartment_picture_01": 104, + "frl_apartment_pipe": 105, + "frl_apartment_rug_01": 105, + "frl_apartment_rug_02": 105, + "frl_apartment_sofa": 105, + "frl_apartment_stair": 105, + "frl_apartment_switch_02": 104, + "frl_apartment_table_01": 105, + "frl_apartment_table_02": 105, + "frl_apartment_table_03": 63, + "frl_apartment_tv_screen": 105, + "frl_apartment_tvstand": 105, + "frl_apartment_wall-plug_01": 104, + "frl_apartment_wall_arch": 92, + "frl_apartment_wall_arch.001": 13, + "frl_apartment_wall_cabinet_01": 102, + "frl_apartment_wall_cabinet_02": 105, + "frl_apartment_wall_cabinet_03_body": 105 +} \ No newline at end of file diff --git a/configs/scenes/Baked_sc0_staging_00.scene_instance.json b/configs/scenes/Baked_sc0_staging_00.scene_instance.json new file mode 100644 index 0000000000000000000000000000000000000000..1abad97afc0e8354075245e5e78240fcf86a85a0 --- /dev/null +++ b/configs/scenes/Baked_sc0_staging_00.scene_instance.json @@ -0,0 +1,132 @@ +{ + "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 + } + ] +} \ No newline at end of file diff --git a/configs/scenes/Baked_sc0_staging_01.scene_instance.json b/configs/scenes/Baked_sc0_staging_01.scene_instance.json new file mode 100644 index 0000000000000000000000000000000000000000..b3dc6d8890e4135b149f29518ba637bf47f5341f --- /dev/null +++ b/configs/scenes/Baked_sc0_staging_01.scene_instance.json @@ -0,0 +1,132 @@ +{ + "stage_instance": { + "template_name": "Baked_sc0_staging_01", + "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_01", + "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": [ + 2.673454761505127, + 0.05, + 7.627686023712158 + ], + "rotation": [ + -0.011609089723888662, + -7.902533964015968e-09, + 0.9999326122473333, + 8.429369535711828e-08 + ] + }, + { + "template_name": "chestOfDrawers_01", + "fixed_base": true, + "auto_clamp_joint_limits": true, + "translation_origin": "COM", + "motion_type": "DYNAMIC", + "translation": [ + 0.18798112869262695, + 0.0, + -0.35399776697158813 + ], + "rotation": [ + -0.4997442842057946, + 0.49974424823280195, + 0.5002556693552105, + 0.5002555367408141 + ], + "uniform_scale": 0.4 + } + ] +} \ No newline at end of file diff --git a/configs/scenes/Baked_sc0_staging_02.scene_instance.json b/configs/scenes/Baked_sc0_staging_02.scene_instance.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5cba187078839a98f852b145ed93788bc10169 --- /dev/null +++ b/configs/scenes/Baked_sc0_staging_02.scene_instance.json @@ -0,0 +1,132 @@ +{ + "stage_instance": { + "template_name": "Baked_sc0_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_sc0_staging_02", + "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": [ + 3.281822681427002, + 0.05, + 7.658101558685303 + ], + "rotation": [ + -0.03190426594295512, + -7.9025340403438e-09, + 0.999490929330844, + 8.429369680040821e-08 + ] + }, + { + "template_name": "chestOfDrawers_01", + "fixed_base": true, + "auto_clamp_joint_limits": true, + "translation_origin": "COM", + "motion_type": "DYNAMIC", + "translation": [ + -2.0043487548828125, + 0.0, + -0.27634018659591675 + ], + "rotation": [ + 0.7040048725701429, + -0.7040047250561833, + 0.06616079064822598, + 0.06616068528111192 + ], + "uniform_scale": 0.4 + } + ] +} \ No newline at end of file diff --git a/configs/scenes/Baked_sc0_staging_03.scene_instance.json b/configs/scenes/Baked_sc0_staging_03.scene_instance.json new file mode 100644 index 0000000000000000000000000000000000000000..af6438e571697346813c1b2239ed55f564f07a5c --- /dev/null +++ b/configs/scenes/Baked_sc0_staging_03.scene_instance.json @@ -0,0 +1,132 @@ +{ + "stage_instance": { + "template_name": "Baked_sc0_staging_03", + "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_03", + "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": 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file diff --git a/configs/scenes/Baked_sc0_staging_04.scene_instance.json b/configs/scenes/Baked_sc0_staging_04.scene_instance.json new file mode 100644 index 0000000000000000000000000000000000000000..07b9df3b8ec5062085a0b78e34f2ac1616f84d7a --- /dev/null +++ b/configs/scenes/Baked_sc0_staging_04.scene_instance.json @@ -0,0 +1,132 @@ +{ + "stage_instance": { + "template_name": "Baked_sc0_staging_04", + "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_04", + "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": 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