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_15", | |
"object_instances": [ | |
{ | |
"template_name": "frl_apartment_wall_cabinet_02", | |
"translation": [ | |
-2.325425386428833, | |
1.0684746503829956, | |
-1.9324955940246582 | |
], | |
"rotation": [ | |
0.7102792957120826, | |
4.2146848178159495e-08, | |
0.703919968521095, | |
-8.429369652285244e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tvstand", | |
"translation": [ | |
-2.053478956222534, | |
0.3771224021911621, | |
3.3470757007598877 | |
], | |
"rotation": [ | |
0.7304761975305956, | |
8.429369707796397e-08, | |
-0.6829381559418328, | |
6.322027296112864e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tv_screen", | |
"translation": [ | |
0.3785010874271393, | |
1.6671584844589233, | |
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": [ | |
4.261234283447266, | |
0.5548965334892273, | |
3.51328182220459 | |
], | |
"rotation": [ | |
0.007986258674399395, | |
-0.5734071688058724, | |
0.8191542904477979, | |
-0.011255526437459586 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_02", | |
"translation": [ | |
2.226577043533325, | |
0.5924146771430969, | |
1.7705984115600586 | |
], | |
"rotation": [ | |
0.9560444368625144, | |
8.429369641183017e-08, | |
0.29322181832910904, | |
4.214684823367066e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_01", | |
"translation": [ | |
3.888169050216675, | |
0.6646652817726135, | |
6.14387845993042 | |
], | |
"rotation": [ | |
0.7071067601131212, | |
2.107342417234648e-08, | |
-0.7071068022599701, | |
6.32202726835729e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_sofa", | |
"translation": [ | |
0.9668423533439636, | |
0.39470770955085754, | |
6.160589694976807 | |
], | |
"rotation": [ | |
0.7161272324526444, | |
1.6858737755809372e-07, | |
-0.697969760763084, | |
1.0536711092523632e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_rug_02", | |
"translation": [ | |
2.005343437194824, | |
0.027700966224074364, | |
5.960140228271484 | |
], | |
"rotation": [ | |
0.7126127978452148, | |
4.21468479561149e-08, | |
-0.7015575531253381, | |
4.214684812264835e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_rug_01", | |
"translation": [ | |
2.027970790863037, | |
0.027660302817821503, | |
1.440819501876831 | |
], | |
"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": [ | |
-1.4266791343688965, | |
1.6576106548309326, | |
3.982555866241455 | |
], | |
"rotation": [ | |
-0.5223835298399011, | |
-0.5223837174739747, | |
-0.4765662070846379, | |
0.4765662070846379 | |
], | |
"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": [ | |
3.9851748943328857, | |
0.9862930774688721, | |
-0.8529213070869446 | |
], | |
"rotation": [ | |
0.9996716082373842, | |
4.214684828918181e-08, | |
-0.02562568407047182, | |
2.1073424184489545e-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": [ | |
1.0176571607589722, | |
0.362226277589798, | |
-0.21405456960201263 | |
], | |
"rotation": [ | |
0.2859970351091975, | |
3.161013592545281e-08, | |
-0.958230502493393, | |
8.429369585671864e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_chair_01", | |
"translation": [ | |
-0.2476372867822647, | |
0.362333744764328, | |
-0.30108538269996643 | |
], | |
"rotation": [ | |
0.05328641415650823, | |
-5.26835614370058e-09, | |
0.9985792697959921, | |
-2.1073424577577876e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_bike_01", | |
"translation": [ | |
4.102429389953613, | |
0.4360314905643463, | |
0.3749294579029083 | |
], | |
"rotation": [ | |
0.09596137003100803, | |
-0.04737968940990993, | |
-0.9942462811703167, | |
0.00457305939041075 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_beanbag", | |
"translation": [ | |
0.8429476022720337, | |
0.38910895586013794, | |
4.374266147613525 | |
], | |
"rotation": [ | |
0.9949811770791053, | |
0.0012159787248810505, | |
0.1000542000654607, | |
0.00036837926059702514 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_beanbag", | |
"translation": [ | |
0.5728344917297363, | |
0.26055192947387695, | |
3.486595392227173 | |
], | |
"rotation": [ | |
0.6224270669606768, | |
-0.04814952956359908, | |
0.7805054829711646, | |
0.03282316513504141 | |
], | |
"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": [ | |
2.5774035453796387, | |
0.05, | |
7.77209997177124 | |
], | |
"rotation": [ | |
0.0006191346490735951, | |
-3.6919651296275866e-08, | |
0.9999998083360921, | |
2.528810899016243e-07 | |
] | |
}, | |
{ | |
"template_name": "chestOfDrawers_01", | |
"fixed_base": true, | |
"auto_clamp_joint_limits": true, | |
"translation_origin": "COM", | |
"motion_type": "DYNAMIC", | |
"translation": [ | |
4.149369239807129, | |
0.0, | |
4.510265827178955 | |
], | |
"rotation": [ | |
0.02215446968270738, | |
-0.022154469682707102, | |
0.7067596755959271, | |
0.7067595913022306 | |
], | |
"uniform_scale": 0.4 | |
} | |
] | |
} |