configs/scenes/v3_sc1_staging_01.scene_instance.json

{
  "stage_instance": {
    "template_name": "Stage_v3_sc1_staging",
    "translation": [
      0.0,
      0.0,
      0.0
    ],
    "rotation": [
      1.0,
      0.0,
      0.0,
      0.0
    ],
    "translation_origin": "COM"
  },
  "default_lighting": "lighting/frl_apartment_stage",
  "navmesh_instance": "v3_sc1_staging_01",
  "object_instances": [
    {
      "template_name": "frl_apartment_wall_cabinet_02",
      "translation": [
        -0.5979688763618469,
        1.0684746503829956,
        -1.1518830060958862
      ],
      "rotation": [
        0.7041935994544058,
        4.2146848955315626e-08,
        0.7100080101572369,
        -8.42936979661424e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_wall_cabinet_01",
      "translation": [
        -2.1135942935943604,
        1.0575923919677734,
        3.6775307655334473
      ],
      "rotation": [
        0.7354520577513296,
        8.429369730000856e-08,
        0.6775767637318452,
        -8.429369735551971e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_tvstand",
      "translation": [
        0.6908261775970459,
        0.3771223723888397,
        5.062525749206543
      ],
      "rotation": [
        0.6969919191393487,
        8.429369741103086e-08,
        -0.7170789807646251,
        8.429369713347511e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_tv_screen",
      "translation": [
        0.37088075280189514,
        1.9687386751174927,
        5.619880199432373
      ],
      "rotation": [
        0.7041823002560194,
        8.429368764106825e-08,
        -0.7100192166456677,
        8.429368753004594e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_table_03",
      "translation": [
        -0.11284705996513367,
        0.5548965334892273,
        3.966930389404297
      ],
      "rotation": [
        0.5845862725641617,
        -0.39771043350457674,
        0.5738783546570279,
        -0.4132177816445995
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_table_02",
      "translation": [
        2.0911386013031006,
        0.5924146771430969,
        7.246896266937256
      ],
      "rotation": [
        0.9999240159462996,
        0.0,
        0.012327300345995357,
        6.256172711480156e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_table_01",
      "translation": [
        0.7207151055335999,
        0.6646652817726135,
        0.24753673374652863
      ],
      "rotation": [
        0.7047209141957776,
        1.0536712163888848e-07,
        -0.7094846249884836,
        8.429369724449741e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_sofa",
      "translation": [
        3.6777548789978027,
        0.39470770955085754,
        5.8337788581848145
      ],
      "rotation": [
        0.6766747487214956,
        -4.214684962144943e-08,
        0.7362820685326362,
        -4.214684934389367e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_rug_02",
      "translation": [
        2.006465435028076,
        0.01852838695049286,
        1.8049395084381104
      ],
      "rotation": [
        0.6834658519816343,
        1.264405450340789e-07,
        -0.7299824855261764,
        1.685873933232607e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_rug_01",
      "translation": [
        2.027970790863037,
        0.018487725406885147,
        5.823429107666016
      ],
      "rotation": [
        0.004805145010799881,
        -2.0908788559478173e-08,
        0.999988455224068,
        -8.429369874329852e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_picture_01",
      "translation": [
        -0.3670507073402405,
        1.381300449371338,
        -2.9756693840026855
      ],
      "rotation": [
        0.7149065563535338,
        8.429369630080781e-08,
        0.6992200052077437,
        -8.429369646734127e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_clothes_hanger_02",
      "translation": [
        0.1308596134185791,
        1.6576110124588013,
        -0.5233853459358215
      ],
      "rotation": [
        -0.4765660206113875,
        -0.47656634755295707,
        0.5223836446418766,
        -0.5223836446418766
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_mat",
      "translation": [
        -1.4447346925735474,
        0.024904662743210793,
        1.061739444732666
      ],
      "rotation": [
        0.7071067601131215,
        2.1073424449902237e-08,
        -0.7071068022599699,
        6.32202729056175e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_indoor_plant_02",
      "translation": [
        3.035601854324341,
        0.9862930774688721,
        7.572571754455566
      ],
      "rotation": [
        0.46070080569989513,
        6.322027149008312e-08,
        0.8875555011532785,
        -1.2644054264709934e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_indoor_plant_01",
      "translation": [
        3.4250807762145996,
        1.7068207263946533,
        -4.1365251541137695
      ],
      "rotation": [
        0.9999999999999964,
        8.429369846574275e-08,
        0.0,
        0.0
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_chair_01",
      "translation": [
        -2.154400587081909,
        0.362226277589798,
        2.901185989379883
      ],
      "rotation": [
        0.7782382048485057,
        1.2644054186994325e-07,
        -0.6279691843666791,
        8.429369457996216e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_chair_01",
      "translation": [
        0.060925573110580444,
        0.362333744764328,
        3.323045492172241
      ],
      "rotation": [
        0.9681631743887648,
        1.685873928236603e-07,
        -0.25031993080344483,
        -2.107342408907975e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_bike_01",
      "translation": [
        4.193480968475342,
        0.4360314905643463,
        -0.6049036383628845
      ],
      "rotation": [
        -0.04189939468098261,
        -0.047557991334161116,
        -0.9979873206554386,
        -0.0019964960820862405
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_beanbag",
      "translation": [
        3.9239683151245117,
        0.3466704487800598,
        7.39020299911499
      ],
      "rotation": [
        0.22547343407314335,
        -0.029312554476787364,
        0.9725050089178682,
        0.05036379956840518
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_beanbag",
      "translation": [
        3.7655091285705566,
        0.307098388671875,
        3.0934414863586426
      ],
      "rotation": [
        0.4365975824609577,
        0.0009513597410414907,
        0.8996560101725279,
        -0.0008421783296265748
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    }
  ],
  "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": [
        0.6491072773933411,
        0.05,
        6.8205485343933105
      ],
      "rotation": [
        0.6828470271628955,
        -1.685873766699153e-07,
        0.730561385165375,
        1.264405324885587e-07
      ]
    },
    {
      "template_name": "chestOfDrawers_01",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        3.8257269859313965,
        0.0,
        4.316568374633789
      ],
      "rotation": [
        0.12857365996164793,
        -0.12857374425534432,
        0.6953192516658376,
        0.695319167372141
      ],
      "uniform_scale": 0.4
    }
  ]
}