Datasets:
ArXiv:
License:
{ | |
"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_08", | |
"object_instances": [ | |
{ | |
"template_name": "frl_apartment_wall_cabinet_02", | |
"translation": [ | |
1.6529076099395752, | |
1.0684746503829956, | |
-0.6201901435852051 | |
], | |
"rotation": [ | |
0.8802502762355369, | |
4.214684767855914e-08, | |
0.47450969556717393, | |
-8.429369566242961e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_wall_cabinet_01", | |
"translation": [ | |
-1.077612280845642, | |
1.0575923919677734, | |
3.8598060607910156 | |
], | |
"rotation": [ | |
0.11674905164190962, | |
-5.268356056964407e-09, | |
0.9931614465637995, | |
-1.2644054586674613e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tvstand", | |
"translation": [ | |
4.099635124206543, | |
0.3771224319934845, | |
0.0033304691314697266 | |
], | |
"rotation": [ | |
0.7075156453910058, | |
4.2146848233670646e-08, | |
0.706697680431274, | |
-6.322027251703942e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tv_screen", | |
"translation": [ | |
0.3785010874271393, | |
2.084871530532837, | |
5.619943141937256 | |
], | |
"rotation": [ | |
0.704182299906679, | |
8.429369741103086e-08, | |
-0.7100192169921359, | |
8.429369741103086e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_03", | |
"translation": [ | |
0.5374823808670044, | |
0.5548965334892273, | |
4.598434925079346 | |
], | |
"rotation": [ | |
0.819158164441301, | |
0.010965471783872966, | |
-0.007571807614118683, | |
-0.573412877242193 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_02", | |
"translation": [ | |
3.668595314025879, | |
0.5924146771430969, | |
3.0021982192993164 | |
], | |
"rotation": [ | |
0.6922640988923429, | |
4.214684884429331e-08, | |
0.7216442457227549, | |
8.429369746654201e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_01", | |
"translation": [ | |
-2.0996623039245605, | |
0.6646652817726135, | |
3.2473649978637695 | |
], | |
"rotation": [ | |
0.7044658880788007, | |
1.0536712247155577e-07, | |
0.7097378477531888, | |
-8.429369796614239e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_sofa", | |
"translation": [ | |
3.5341367721557617, | |
0.39470773935317993, | |
6.101107120513916 | |
], | |
"rotation": [ | |
0.6834096806451178, | |
2.107342400581302e-08, | |
0.7300350734043747, | |
-8.429369557916287e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_rug_02", | |
"translation": [ | |
2.006465435028076, | |
0.01670096442103386, | |
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, | |
0.016660302877426147, | |
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": [ | |
0.061197638511657715, | |
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": [ | |
3.6467714309692383, | |
0.9862930774688721, | |
7.590493679046631 | |
], | |
"rotation": [ | |
0.9126833093417901, | |
1.264405464773688e-07, | |
0.4086675627559672, | |
0.0 | |
], | |
"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": [ | |
0.08187784999608994, | |
0.362333744764328, | |
0.28455713391304016 | |
], | |
"rotation": [ | |
0.19986509153704873, | |
5.26835618880339e-08, | |
-0.9798234255134135, | |
2.1073424771866906e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_chair_01", | |
"translation": [ | |
0.7757468819618225, | |
0.362226277589798, | |
-0.218455970287323 | |
], | |
"rotation": [ | |
0.18866130440920098, | |
2.1073424213979848e-08, | |
-0.9820422150898663, | |
8.429369674489709e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_bike_01", | |
"translation": [ | |
3.8352553844451904, | |
0.4360314905643463, | |
4.220057487487793 | |
], | |
"rotation": [ | |
0.29014188735437557, | |
0.04554760400983637, | |
0.955799108753141, | |
0.013826231522201637 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_beanbag", | |
"translation": [ | |
0.8819655776023865, | |
0.38910895586013794, | |
7.419355869293213 | |
], | |
"rotation": [ | |
0.4365975824609577, | |
0.0009513597410414907, | |
0.8996560101725279, | |
-0.0008421783296265748 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_beanbag", | |
"translation": [ | |
3.7476394176483154, | |
0.26055192947387695, | |
1.4790860414505005 | |
], | |
"rotation": [ | |
0.7375188638233553, | |
-0.052715654855917005, | |
0.6728076891839471, | |
0.024835430593738383 | |
], | |
"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": [ | |
0.5455472469329834, | |
0.05, | |
5.851961612701416 | |
], | |
"rotation": [ | |
0.7076216912835112, | |
-1.2644054597776844e-07, | |
0.7065914958623769, | |
1.2644054597776844e-07 | |
] | |
}, | |
{ | |
"template_name": "chestOfDrawers_01", | |
"fixed_base": true, | |
"auto_clamp_joint_limits": true, | |
"translation_origin": "COM", | |
"motion_type": "DYNAMIC", | |
"translation": [ | |
-0.12559565901756287, | |
0.0, | |
3.913203716278076 | |
], | |
"rotation": [ | |
0.504638710708599, | |
-0.5046385842680549, | |
0.49531801889452026, | |
0.49531780816028015 | |
], | |
"uniform_scale": 0.4 | |
} | |
] | |
} |