Datasets:
ArXiv:
License:
{ | |
"stage_instance": { | |
"template_name": "Stage_v3_sc2_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_sc2_staging_00", | |
"object_instances": [ | |
{ | |
"template_name": "frl_apartment_wall_cabinet_02", | |
"translation": [ | |
4.202493190765381, | |
1.0684746503829956, | |
4.641764163970947 | |
], | |
"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": [ | |
-2.331387519836426, | |
1.0575923919677734, | |
-1.136102557182312 | |
], | |
"rotation": [ | |
0.7126828383502348, | |
4.214684773407029e-08, | |
0.7014864018076503, | |
-8.429369546814058e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tvstand", | |
"translation": [ | |
0.49746763706207275, | |
0.3771224617958069, | |
-0.23280911147594452 | |
], | |
"rotation": [ | |
0.0005783597483516338, | |
2.0579516985929507e-11, | |
0.9999998327499833, | |
-8.42936986877874e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_tv_screen", | |
"translation": [ | |
2.159456253051758, | |
1.3628860712051392, | |
7.8788909912109375 | |
], | |
"rotation": [ | |
0.9999816216738471, | |
2.528810734703235e-07, | |
-0.006062698613593756, | |
6.585445062531892e-10 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_03", | |
"translation": [ | |
0.6789007186889648, | |
0.5548965334892273, | |
-1.133614420890808 | |
], | |
"rotation": [ | |
0.5845862725641617, | |
-0.39771043350457674, | |
0.5738783546570279, | |
-0.4132177816445995 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_02", | |
"translation": [ | |
-1.5352040529251099, | |
0.5924146771430969, | |
3.7067677974700928 | |
], | |
"rotation": [ | |
0.9999996947202017, | |
4.214684867775986e-08, | |
0.0007813830673731221, | |
6.322027322144558e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_table_01", | |
"translation": [ | |
2.1242306232452393, | |
0.6646652817726135, | |
7.5774245262146 | |
], | |
"rotation": [ | |
0.9999889558005746, | |
1.2644054214749898e-07, | |
-0.004699816683660934, | |
2.1402695914163324e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_sofa", | |
"translation": [ | |
1.5712358951568604, | |
0.39470773935317993, | |
4.463017463684082 | |
], | |
"rotation": [ | |
0.1099962867060382, | |
5.268355959126002e-08, | |
-0.9939319981321022, | |
8.429369530160712e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_rug_02", | |
"translation": [ | |
2.185732364654541, | |
0.01670096442103386, | |
6.123635768890381 | |
], | |
"rotation": [ | |
0.6834658519816343, | |
1.264405450340789e-07, | |
-0.7299824855261764, | |
1.685873933232607e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_rug_01", | |
"translation": [ | |
3.4416794776916504, | |
0.016660304740071297, | |
2.233743190765381 | |
], | |
"rotation": [ | |
0.008997037079068132, | |
-4.214684867602513e-08, | |
0.9999595258428158, | |
-8.429369724449741e-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": [ | |
1.5902960300445557, | |
1.6799933910369873, | |
-0.990230917930603 | |
], | |
"rotation": [ | |
-0.6705841283228979, | |
-0.6838469641606282, | |
0.19962304188339186, | |
-0.20693210867077505 | |
], | |
"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, | |
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": [ | |
3.334242343902588, | |
0.362333744764328, | |
7.588512897491455 | |
], | |
"rotation": [ | |
0.9991291397823912, | |
1.6858739310121599e-07, | |
0.041724837179670175, | |
-2.634178016339138e-08 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_chair_01", | |
"translation": [ | |
3.909221649169922, | |
0.362226277589798, | |
5.512295722961426 | |
], | |
"rotation": [ | |
0.34056785008903395, | |
3.161013623076414e-08, | |
0.9402199420804243, | |
-1.2644054497856771e-07 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_bike_02", | |
"translation": [ | |
-0.4610171616077423, | |
0.43499135971069336, | |
-0.7856804728507996 | |
], | |
"rotation": [ | |
0.018679614801969738, | |
-0.060935992057740127, | |
-0.997966219937772, | |
-0.001140493710511059 | |
], | |
"motion_type": "STATIC", | |
"translation_origin": "COM" | |
}, | |
{ | |
"template_name": "frl_apartment_bike_01", | |
"translation": [ | |
0.7066663503646851, | |
0.4360314905643463, | |
-2.6683475971221924 | |
], | |
"rotation": [ | |
0.7013763803394044, | |
0.033891565885377284, | |
0.7111999887242955, | |
0.033423209037948653 | |
], | |
"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, | |
-0.24 | |
], | |
"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, | |
1.6446 | |
], | |
"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, | |
1.6446 | |
], | |
"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, | |
7.157948970794678 | |
], | |
"rotation": [ | |
0.7076216912221516, | |
-1.26440530767713e-07, | |
0.706591495923826, | |
1.2644053071220185e-07 | |
] | |
}, | |
{ | |
"template_name": "chestOfDrawers_01", | |
"fixed_base": true, | |
"auto_clamp_joint_limits": true, | |
"translation_origin": "COM", | |
"motion_type": "DYNAMIC", | |
"translation": [ | |
-2.3722376823425293, | |
0.0, | |
-1.9948407411575317 | |
], | |
"rotation": [ | |
0.707086103491685, | |
-0.7070858927574379, | |
0.005421391396606948, | |
0.005421349249757524 | |
], | |
"uniform_scale": 0.4 | |
} | |
] | |
} |