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_17", | |
"object_instances": [ | |
{ | |
"template_name": "frl_apartment_wall_cabinet_02", | |
"translation": [ | |
1.761588215827942, | |
1.0684746503829956, | |
7.634801864624023 | |
], | |
"rotation": [ | |
0.9999620029176259, | |
1.264405339873597e-07, | |
0.00871738039512544, | |
-2.1402694483016447e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_wall_cabinet_01", | |
"translation": [ | |
3.9550180435180664, | |
1.0575923919677734, | |
6.564305305480957 | |
], | |
"rotation": [ | |
0.6758092600236268, | |
1.0536711991804282e-07, | |
-0.7370765523785843, | |
8.42936959122298e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tvstand", | |
"translation": [ | |
0.5715283155441284, | |
0.3771224617958069, | |
6.866233825683594 | |
], | |
"rotation": [ | |
0.706697701504686, | |
2.1073424671946835e-08, | |
-0.7075156243419599, | |
-1.1102230246251563e-16 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tv_screen", | |
"translation": [ | |
0.3785010874271393, | |
1.7886959314346313, | |
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": [ | |
3.0294501781463623, | |
0.5548965930938721, | |
7.688380241394043 | |
], | |
"rotation": [ | |
0.5537441751964397, | |
-0.4187956988032482, | |
0.6036926896479552, | |
-0.3918324738527058 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_02", | |
"translation": [ | |
3.69437313079834, | |
0.5924146771430969, | |
-0.09569016098976135 | |
], | |
"rotation": [ | |
0.6408515320198508, | |
6.322027251703942e-08, | |
0.7676648447778525, | |
4.2146848233670646e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_01", | |
"translation": [ | |
3.859471082687378, | |
0.6646652817726135, | |
5.044133186340332 | |
], | |
"rotation": [ | |
0.7203286215997844, | |
4.214684812264835e-08, | |
0.6936329554628652, | |
-6.322027223948368e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_sofa", | |
"translation": [ | |
-1.0958585739135742, | |
0.39470773935317993, | |
3.370756149291992 | |
], | |
"rotation": [ | |
0.9980460704741145, | |
1.685873825540973e-07, | |
-0.062482327190575226, | |
-1.3170889250763148e-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": [ | |
-0.43368539214134216, | |
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": [ | |
0.8373057246208191, | |
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": [ | |
4.067060947418213, | |
0.9862930774688721, | |
3.753983497619629 | |
], | |
"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": [ | |
1.1537714004516602, | |
0.362226277589798, | |
-0.22360149025917053 | |
], | |
"rotation": [ | |
0.043120318234704524, | |
1.317089021179996e-09, | |
0.9990698865221138, | |
-1.685873939893945e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_chair_01", | |
"translation": [ | |
-0.0063449181616306305, | |
0.362333744764328, | |
-0.2124650776386261 | |
], | |
"rotation": [ | |
0.12332229383115927, | |
-2.7755575615628907e-17, | |
0.9923666720744792, | |
-2.1073423084327908e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_bike_01", | |
"translation": [ | |
-1.7972017526626587, | |
0.4360314905643463, | |
-2.1495563983917236 | |
], | |
"rotation": [ | |
0.2532646782529548, | |
0.046044430680086325, | |
0.9662252617231345, | |
0.01206883427818595 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_beanbag", | |
"translation": [ | |
4.052175521850586, | |
0.38910895586013794, | |
3.1962924003601074 | |
], | |
"rotation": [ | |
0.4365975824609577, | |
0.0009513597410414907, | |
0.8996560101725279, | |
-0.0008421783296265748 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_beanbag", | |
"translation": [ | |
0.4235602617263794, | |
0.26055192947387695, | |
3.649953842163086 | |
], | |
"rotation": [ | |
0.9681718404789598, | |
-0.05819130944828588, | |
0.24340818080494508, | |
-0.0030848542112931893 | |
], | |
"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, | |
4.998073101043701 | |
], | |
"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": [ | |
3.8941612243652344, | |
0.0, | |
7.525052547454834 | |
], | |
"rotation": [ | |
0.48739746748891166, | |
-0.48739740426863926, | |
0.5122927255589647, | |
0.5122925358981479 | |
], | |
"uniform_scale": 0.4 | |
} | |
] | |
} |