|
{ |
|
"stage_instance": { |
|
"template_name": "Stage_v3_sc0_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_sc0_staging_06", |
|
"object_instances": [ |
|
{ |
|
"template_name": "frl_apartment_wall_cabinet_02", |
|
"translation": [ |
|
0.5936980247497559, |
|
1.0684746503829956, |
|
3.878143787384033 |
|
], |
|
"rotation": [ |
|
4.828565963592777e-08, |
|
-4.828565963592777e-08, |
|
-0.9999999999999942, |
|
8.42936984102316e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_wall_cabinet_01", |
|
"translation": [ |
|
4.072921276092529, |
|
1.0575923919677734, |
|
-0.7370868921279907 |
|
], |
|
"rotation": [ |
|
0.02665569107040848, |
|
-2.239051303046246e-08, |
|
0.9996446739384707, |
|
-8.429369591222978e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_tvstand", |
|
"translation": [ |
|
4.008480548858643, |
|
0.3771224319934845, |
|
2.31874680519104 |
|
], |
|
"rotation": [ |
|
0.7047878967744363, |
|
1.0536711070319173e-07, |
|
0.7094180858705531, |
|
-1.2644053298815908e-07 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_tv_screen", |
|
"translation": [ |
|
2.365292549133301, |
|
2.1219310760498047, |
|
7.892436504364014 |
|
], |
|
"rotation": [ |
|
0.9999999999999964, |
|
8.429369846574275e-08, |
|
0.0, |
|
0.0 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_table_03", |
|
"translation": [ |
|
2.685980796813965, |
|
0.329677015542984, |
|
1.3990206718444824 |
|
], |
|
"rotation": [ |
|
0.7117016815118128, |
|
4.214684884429331e-08, |
|
0.7024818264789863, |
|
-6.322027334970669e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_table_02", |
|
"translation": [ |
|
-1.8904531002044678, |
|
0.5926598310470581, |
|
1.5948216915130615 |
|
], |
|
"rotation": [ |
|
0.720567278946427, |
|
-0.0007320907326832105, |
|
-0.6933739435903321, |
|
-0.003851610688060114 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_table_01", |
|
"translation": [ |
|
3.4208192825317383, |
|
0.6646652817726135, |
|
4.490952491760254 |
|
], |
|
"rotation": [ |
|
0.018219730918050923, |
|
-2.1073424215714565e-08, |
|
-0.999834006925783, |
|
8.429369696694167e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_sofa", |
|
"translation": [ |
|
0.4702621400356293, |
|
0.39470773935317993, |
|
1.6536448001861572 |
|
], |
|
"rotation": [ |
|
0.7191455523292601, |
|
4.214684767855914e-08, |
|
0.6948594638954253, |
|
-6.322027168437216e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_rug_02", |
|
"translation": [ |
|
-0.9895018339157104, |
|
0.01670096442103386, |
|
1.709180235862732 |
|
], |
|
"rotation": [ |
|
0.9999802226834212, |
|
1.2644054631083537e-07, |
|
-0.006289216326288219, |
|
2.1402696724279194e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_rug_01", |
|
"translation": [ |
|
3.3074684143066406, |
|
0.016660302877426147, |
|
3.091749429702759 |
|
], |
|
"rotation": [ |
|
0.0005600015086153991, |
|
-2.3687023451241043e-08, |
|
0.999999843199139, |
|
-8.429369946494346e-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": [ |
|
-2.391540050506592, |
|
1.6576112508773804, |
|
-1.7719314098358154 |
|
], |
|
"rotation": [ |
|
-0.706655337492614, |
|
-0.7066557816152891, |
|
0.025257081213837698, |
|
-0.025257081213837698 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_mat", |
|
"translation": [ |
|
1.3404902219772339, |
|
0.024904662743210793, |
|
6.657509803771973 |
|
], |
|
"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": [ |
|
1.7053732872009277, |
|
0.9862930774688721, |
|
-0.7422970533370972 |
|
], |
|
"rotation": [ |
|
0.5152821633834518, |
|
6.322027246152828e-08, |
|
-0.8570205902420658, |
|
8.429369657836361e-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": [ |
|
-2.0900161266326904, |
|
0.362333744764328, |
|
0.3556191325187683 |
|
], |
|
"rotation": [ |
|
0.7539510072565754, |
|
4.214684756753684e-08, |
|
-0.656930649807715, |
|
8.429369535711828e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_chair_01", |
|
"translation": [ |
|
-1.9037854671478271, |
|
0.362226277589798, |
|
2.6853349208831787 |
|
], |
|
"rotation": [ |
|
0.6698955842463041, |
|
1.0536711819719713e-07, |
|
-0.7424553227011608, |
|
8.429369474649562e-08 |
|
], |
|
"motion_type": "STATIC", |
|
"translation_origin": "COM" |
|
}, |
|
{ |
|
"template_name": "frl_apartment_bike_02", |
|
"translation": [ |
|
-1.7543786764144897, |
|
0.529851496219635, |
|
3.4162919521331787 |
|
], |
|
"rotation": [ |
|
0.523872948183733, |
|
-0.05303824656077806, |
|
-0.8496132276358823, |
|
0.030024023534168102 |
|
], |
|
"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": [ |
|
0.535, |
|
1.01, |
|
4.4597649574279785 |
|
], |
|
"rotation": [ |
|
1, |
|
0, |
|
0, |
|
0 |
|
] |
|
}, |
|
{ |
|
"template_name": "kitchen_counter", |
|
"fixed_base": true, |
|
"auto_clamp_joint_limits": true, |
|
"translation_origin": "COM", |
|
"motion_type": "DYNAMIC", |
|
"translation": [ |
|
0.735, |
|
0.03, |
|
6.373764820098877 |
|
], |
|
"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": [ |
|
0.435, |
|
1.53, |
|
6.373764820098877 |
|
], |
|
"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": [ |
|
2.3596835136413574, |
|
0.05, |
|
7.8181352615356445 |
|
], |
|
"rotation": [ |
|
0.00512093452004408, |
|
-9.384259349199536e-09, |
|
0.9999868879288495, |
|
1.264405470324803e-07 |
|
] |
|
}, |
|
{ |
|
"template_name": "chestOfDrawers_01", |
|
"fixed_base": true, |
|
"auto_clamp_joint_limits": true, |
|
"translation_origin": "COM", |
|
"motion_type": "DYNAMIC", |
|
"translation": [ |
|
-2.282270908355713, |
|
0.0, |
|
-0.6560769081115723 |
|
], |
|
"rotation": [ |
|
0.706986938119393, |
|
-0.7069868959725433, |
|
0.013019246214341628, |
|
0.013019119773792135 |
|
], |
|
"uniform_scale": 0.4 |
|
} |
|
] |
|
} |