configs/scenes/v3_sc1_staging_04.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_04",
  "object_instances": [
    {
      "template_name": "frl_apartment_wall_cabinet_02",
      "translation": [
        4.042414665222168,
        1.0684746503829956,
        -0.44513529539108276
      ],
      "rotation": [
        0.6621727151127689,
        2.1073422007411583e-08,
        0.7493512496554446,
        -8.429368847373554e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_wall_cabinet_01",
      "translation": [
        -1.0263569355010986,
        1.0575923919677734,
        3.6855525970458984
      ],
      "rotation": [
        0.12063668115794013,
        -1.0536712023723194e-08,
        0.9926967266789901,
        -1.264405446455008e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_tvstand",
      "translation": [
        0.7299655675888062,
        0.3771224021911621,
        4.701497554779053
      ],
      "rotation": [
        0.7227198117793434,
        1.1102230246251565e-16,
        -0.6911411387420301,
        2.1073423950301873e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_tv_screen",
      "translation": [
        0.3785010576248169,
        1.597955584526062,
        5.619943141937256
      ],
      "rotation": [
        0.7041823002560194,
        8.429368764106825e-08,
        -0.7100192166456677,
        8.429368753004594e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_table_03",
      "translation": [
        3.856917381286621,
        0.5548965334892273,
        7.741229057312012
      ],
      "rotation": [
        0.5845862725641617,
        -0.39771043350457674,
        0.5738783546570279,
        -0.4132177816445995
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_table_02",
      "translation": [
        -2.0233397483825684,
        0.5924146771430969,
        3.33628511428833
      ],
      "rotation": [
        0.7038624521752621,
        -5.551115123125783e-17,
        -0.7103362924825192,
        1.2644054708799146e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_table_01",
      "translation": [
        1.8703224658966064,
        0.6646652817726135,
        7.56339693069458
      ],
      "rotation": [
        0.008102284668581877,
        2.140269615095308e-08,
        0.9999671759528619,
        -8.429369535711827e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_sofa",
      "translation": [
        3.649012565612793,
        0.39470773935317993,
        6.117313861846924
      ],
      "rotation": [
        0.7418187075904874,
        4.214684801162605e-08,
        0.6706004809637182,
        -8.42936962452967e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_rug_02",
      "translation": [
        3.1546289920806885,
        0.01903349906206131,
        1.8055191040039062
      ],
      "rotation": [
        0.7072596101961719,
        8.429368736351252e-08,
        -0.7069539191383948,
        1.264405312673134e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_rug_01",
      "translation": [
        1.9930692911148071,
        0.018992839381098747,
        5.823617935180664
      ],
      "rotation": [
        0.015114046458591393,
        -1.9097789338666515e-08,
        0.9998857762762905,
        -8.429369097173733e-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": [
        0.8976127505302429,
        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": [
        -1.444734811782837,
        0.024904662743210793,
        1.4524160623550415
      ],
      "rotation": [
        0.863876283725512,
        8.42936970224528e-08,
        -0.5037040464564363,
        6.322027273908402e-08
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_indoor_plant_02",
      "translation": [
        2.9963927268981934,
        0.9862930774688721,
        7.577410697937012
      ],
      "rotation": [
        0.7075151399213404,
        4.2146848400204107e-08,
        0.7066981864856314,
        -6.322027279459519e-08
      ],
      "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": [
        1.232084035873413,
        0.362226277589798,
        -0.2233133316040039
      ],
      "rotation": [
        0.15314945651053682,
        1.0536712141684392e-08,
        0.988203037827,
        -1.2644054542265695e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_chair_01",
      "translation": [
        0.02351674810051918,
        0.362333744764328,
        -0.2311777025461197
      ],
      "rotation": [
        0.030473357238976092,
        2.370760258246784e-08,
        -0.9995355794060263,
        2.1073424555373416e-07
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_bike_01",
      "translation": [
        -1.8991546630859375,
        0.4360314905643463,
        -2.1390228271484375
      ],
      "rotation": [
        0.3042891763638388,
        0.045337478332896114,
        0.951389693810738,
        0.014500369544990732
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_beanbag",
      "translation": [
        -0.11673260480165482,
        0.38910895586013794,
        3.7166614532470703
      ],
      "rotation": [
        0.9130164702760512,
        0.0012701374215549066,
        0.4079207161696877,
        -3.2790248007924516e-05
      ],
      "motion_type": "STATIC",
      "translation_origin": "COM"
    },
    {
      "template_name": "frl_apartment_beanbag",
      "translation": [
        2.7297146320343018,
        0.26055192947387695,
        4.387781620025635
      ],
      "rotation": [
        0.6771683739636561,
        -0.05039420671196399,
        0.7335170452467117,
        0.029260238649462592
      ],
      "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": [
        0.71318519115448,
        0.05,
        6.749114990234375
      ],
      "rotation": [
        0.642437670113855,
        -1.2644054597776844e-07,
        0.7663379411321474,
        8.429369741103088e-08
      ]
    },
    {
      "template_name": "chestOfDrawers_01",
      "fixed_base": true,
      "auto_clamp_joint_limits": true,
      "translation_origin": "COM",
      "motion_type": "DYNAMIC",
      "translation": [
        4.030834674835205,
        0.0,
        4.4503703117370605
      ],
      "rotation": [
        -0.04297985954636321,
        0.04297977525266703,
        0.7057994433868421,
        0.7057992747994496
      ],
      "uniform_scale": 0.4
    }
  ]
}