ReplicaCAD_dataset / configs /scenes /v3_sc1_staging_12.scene_instance.json
aclegg3
initial lfs commit
0c95287
{
"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_12",
"object_instances": [
{
"template_name": "frl_apartment_wall_cabinet_02",
"translation": [
-2.0229482650756836,
1.0684746503829956,
-1.9324102401733398
],
"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": [
-1.1471824645996094,
1.0575923919677734,
3.795578718185425
],
"rotation": [
0.06239264690806018,
2.3707601767147806e-08,
0.9980516808321093,
-8.429369513507366e-08
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_tvstand",
"translation": [
0.47366201877593994,
0.3771224617958069,
5.656529426574707
],
"rotation": [
0.7066977331513847,
4.214684756753684e-08,
-0.7075155927318441,
-1.1102230246251565e-16
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_tv_screen",
"translation": [
0.3785010874271393,
1.788346529006958,
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": [
-2.075381278991699,
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": [
0.4389130175113678,
0.5924146771430969,
-0.15048275887966156
],
"rotation": [
0.0035299744805447997,
8.462297133599721e-08,
0.9999937696206674,
-8.429369924289885e-08
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_table_01",
"translation": [
3.9253294467926025,
0.6646652817726135,
7.068490028381348
],
"rotation": [
0.707351569843896,
8.429369674489705e-08,
0.7068619077580621,
-4.21468484002041e-08
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_sofa",
"translation": [
2.229477643966675,
0.39470773935317993,
5.494943141937256
],
"rotation": [
0.7072425969004056,
1.6858739870784237e-07,
0.7069709393811962,
-1.0536712424791264e-07
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_rug_02",
"translation": [
0.13319739699363708,
0.01670096628367901,
1.81076180934906
],
"rotation": [
0.03214361532108123,
2.107342421397984e-08,
0.9994832604871795,
-8.429369691143052e-08
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_rug_01",
"translation": [
3.40203595161438,
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": [
-0.43368539214134216,
1.381300449371338,
-2.9771478176116943
],
"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": [
1.729090690612793,
1.6576110124588013,
-1.2342356443405151
],
"rotation": [
-0.6767167430637268,
-0.6767170365410119,
0.20507133162923213,
-0.20507133162923213
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_mat",
"translation": [
-1.444734811782837,
0.024904662743210793,
1.061739444732666
],
"rotation": [
0.6424899985706042,
6.322027290561748e-08,
-0.766294070012772,
4.21468485112264e-08
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_indoor_plant_02",
"translation": [
4.072507858276367,
0.9862930774688721,
3.924980878829956
],
"rotation": [
0.9924846067597042,
8.429369691143053e-08,
0.12236954418901923,
-5.2683560916588776e-09
],
"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": [
3.9390509128570557,
0.362226277589798,
5.653493404388428
],
"rotation": [
0.6967193650500159,
8.42936984102316e-08,
0.717343799279174,
-1.2644054764310297e-07
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_chair_01",
"translation": [
3.9351165294647217,
0.362333744764328,
4.78077507019043
],
"rotation": [
0.7296989487582779,
2.5288107041721025e-07,
0.6837685603923147,
-1.4751395760459476e-07
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_bike_01",
"translation": [
4.193480968475342,
0.4360314905643463,
-1.7990012168884277
],
"rotation": [
-0.04189939468098261,
-0.047557991334161116,
-0.9979873206554386,
-0.0019964960820862405
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_beanbag",
"translation": [
2.178497314453125,
0.3466704487800598,
3.89390230178833
],
"rotation": [
0.9978515889213957,
-0.05514240775265167,
-0.029941336510940053,
-0.018842444698741086
],
"motion_type": "STATIC",
"translation_origin": "COM"
},
{
"template_name": "frl_apartment_beanbag",
"translation": [
0.8139776587486267,
0.3068193197250366,
7.508263111114502
],
"rotation": [
0.9867239233982483,
0.0012367992533316996,
0.16240161486158372,
0.00029122418267873984
],
"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": [
2.214672088623047,
0.05,
7.842538833618164
],
"rotation": [
-0.028105096210571386,
-2.107342403183388e-08,
0.999604973760618,
1.6858739265712688e-07
]
},
{
"template_name": "chestOfDrawers_01",
"fixed_base": true,
"auto_clamp_joint_limits": true,
"translation_origin": "COM",
"motion_type": "DYNAMIC",
"translation": [
0.4110370874404907,
0.0,
3.930875062942505
],
"rotation": [
0.5002641277111824,
-0.5002640012912272,
0.49973585919551156,
0.4997357327343972
],
"uniform_scale": 0.4
}
]
}