Datasets:

ArXiv:
License:
ReplicaCAD / configs /scenes /apt_5.scene_instance.json
stonet2000's picture
files
5e2cd33
{
"stage_instance": {
"template_name": "frl_apartment_stage"
},
"default_lighting": "lighting/frl_apartment_stage",
"object_instances": [
{
"template_name": "objects/frl_apartment_bin_03",
"motion_type": "DYNAMIC",
"translation": [
-2.1650127650174786,
0.347941404224535,
-2.662014002647393
],
"rotation": [
0.7076776027679443,
-5.3672098147217184e-05,
0.7065354585647583,
6.169457628857344e-05
]
},
{
"template_name": "objects/frl_apartment_bin_01",
"motion_type": "DYNAMIC",
"translation": [
-1.3254210334274104,
0.31355718677934297,
3.97546063467431
],
"rotation": [
0.7097904682159424,
0.0029600176494568586,
-0.7039664387702942,
-0.02490050531923771
]
},
{
"template_name": "objects/frl_apartment_lamp_01",
"motion_type": "DYNAMIC",
"translation": [
2.186796785041849,
0.9742484709570721,
7.620517674773457
],
"rotation": [
0.9383215308189392,
-9.069577208720148e-05,
-0.3457639515399933,
3.317180380690843e-05
]
},
{
"template_name": "objects/frl_apartment_table_04",
"motion_type": "DYNAMIC",
"translation": [
0.8824020694971269,
0.4377829717979598,
4.15664300583445
],
"rotation": [
0.9999692440032959,
-1.5080556295288261e-05,
0.007842883467674255,
9.208889650835772e-07
]
},
{
"template_name": "objects/frl_apartment_remote-control_01",
"motion_type": "DYNAMIC",
"translation": [
2.4896998325781583,
0.632065784604923,
7.599305639089048
],
"rotation": [
0.2915424108505249,
-9.903410682454705e-05,
0.9565579295158386,
-0.00011479061504360288
]
},
{
"template_name": "objects/frl_apartment_handbag",
"motion_type": "DYNAMIC",
"translation": [
-2.354867332025344,
1.8715131078056895,
-2.233538117039749
],
"rotation": [
0.7359276413917542,
0.14802314341068268,
-0.6600260138511658,
0.029417438432574272
]
},
{
"template_name": "objects/frl_apartment_lamp_02",
"motion_type": "DYNAMIC",
"translation": [
3.9874427507456858,
1.0263654314155874,
4.859122450612727
],
"rotation": [
0.9999997615814209,
0.0006905339541845024,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_table_03",
"motion_type": "DYNAMIC",
"translation": [
3.9955419165391164,
0.32889859383728026,
4.858163455943824
],
"rotation": [
0.7071064114570618,
-6.277856300584972e-06,
0.7071071267127991,
-8.636776982484662e-08
]
},
{
"template_name": "objects/frl_apartment_table_01",
"motion_type": "DYNAMIC",
"translation": [
3.8669078729774466,
0.6680893135477795,
1.7936397049385298
],
"rotation": [
0.7071067690849304,
-5.642074540901376e-08,
0.7071067690849304,
7.833346415964115e-08
]
},
{
"template_name": "objects/frl_apartment_chair_01",
"motion_type": "DYNAMIC",
"translation": [
3.8501163941530296,
0.36489536029331454,
0.2219769885253574
],
"rotation": [
0.9511503577232361,
-3.690662560984492e-05,
0.30872803926467896,
3.7398403947008774e-05
]
},
{
"template_name": "objects/frl_apartment_rug_02",
"motion_type": "STATIC",
"translation": [
2.1133978272600435,
0.00529028572617445,
5.568118968255227
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_rug_01",
"motion_type": "STATIC",
"translation": [
3.4437570358683356,
0.006776127519964132,
1.804437607614943
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_indoor_plant_02",
"motion_type": "DYNAMIC",
"translation": [
0.28375139159765783,
0.9894121231015351,
3.7478472656461523
],
"rotation": [
0.9999991655349731,
1.5001567987837916e-07,
0.00129187002312392,
9.447417141927872e-07
]
},
{
"template_name": "objects/frl_apartment_cushion_01",
"motion_type": "DYNAMIC",
"translation": [
3.783682417987744,
0.5220783894832085,
0.14574053761069386
],
"rotation": [
0.9418275356292725,
0.004653741605579853,
0.33042412996292114,
0.06131171062588692
]
},
{
"template_name": "objects/frl_apartment_cloth_01",
"motion_type": "STATIC",
"translation": [
-2.2259867237880826,
1.160207102393795,
-2.3531620351926907
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_bike_01",
"motion_type": "DYNAMIC",
"translation": [
1.1433610882284442,
0.45573846830432746,
2.8765967213225023
],
"rotation": [
0.7025229334831238,
-0.0472860187292099,
-0.7085846662521362,
0.046188414096832275
]
},
{
"template_name": "objects/frl_apartment_bike_02",
"motion_type": "DYNAMIC",
"translation": [
4.101070652581465,
0.45668666533115787,
3.35603661501464
],
"rotation": [
0.002879929495975375,
0.08098495006561279,
0.9967063069343567,
0.0030937357805669308
]
},
{
"template_name": "objects/frl_apartment_cloth_02",
"motion_type": "STATIC",
"translation": [
-2.293193031102419,
0.9763037787293503,
-2.3993159482691477
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_cloth_03",
"motion_type": "STATIC",
"translation": [
-2.241415750933811,
1.2398245676185329,
-2.303699214482351
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_cloth_04",
"motion_type": "STATIC",
"translation": [
-2.2365025733597577,
1.117219238241167,
-1.8788967890942931
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_tv_object",
"motion_type": "DYNAMIC",
"translation": [
2.9816220260153217,
0.6491900478991602,
7.651135575761586
],
"rotation": [
0.9579485654830933,
-0.0011355024762451649,
0.28693723678588867,
-0.0005460716201923788
]
},
{
"template_name": "objects/frl_apartment_beanbag",
"motion_type": "DYNAMIC",
"translation": [
1.02304427498752,
0.33725106814151523,
7.287251732423146
],
"rotation": [
0.9995642900466919,
-0.024248087778687477,
0.013324573636054993,
0.010281831957399845
]
},
{
"template_name": "objects/frl_apartment_stool_02",
"motion_type": "DYNAMIC",
"translation": [
4.013765240088105,
0.6964268125593662,
4.852948623243719
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_towel",
"motion_type": "DYNAMIC",
"translation": [
3.6969021224051453,
0.47299005427319396,
5.936231497759996
],
"rotation": [
0.7123798727989197,
0.05078696459531784,
-0.6993639469146729,
-0.028736652806401253
]
},
{
"template_name": "objects/frl_apartment_tv_screen",
"motion_type": "STATIC",
"translation": [
2.5805222708149813,
1.4038781351054663,
7.844580604804442
],
"rotation": [
1.0,
8.940696716308594e-08,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_beanbag",
"motion_type": "DYNAMIC",
"translation": [
1.1176998418171615,
1.0118949772941617,
7.4795150555580525
],
"rotation": [
0.9917511343955994,
0.046734731644392014,
-0.07665946334600449,
-0.09148159623146057
]
},
{
"template_name": "objects/frl_apartment_chair_04",
"motion_type": "DYNAMIC",
"translation": [
3.5440193149117953,
0.4739636189431351,
1.5237419552653146
],
"rotation": [
0.7071468830108643,
4.216190063743852e-06,
-0.7070666551589966,
-3.833069513348164e-06
]
},
{
"template_name": "objects/frl_apartment_basket",
"motion_type": "DYNAMIC",
"translation": [
-1.986062386353461,
1.083936811639656,
0.03916402258752687
],
"rotation": [
0.985019326210022,
-4.371856903162552e-07,
0.17244397103786469,
-3.918004949809983e-06
]
},
{
"template_name": "objects/frl_apartment_bowl_01",
"motion_type": "DYNAMIC",
"translation": [
-2.287592655438092,
1.981216427688109,
2.503354919293021
],
"rotation": [
0.9999822378158569,
1.4056612599233631e-05,
0.005960188806056976,
-1.5652702813895303e-06
]
},
{
"template_name": "objects/frl_apartment_bowl_02",
"motion_type": "DYNAMIC",
"translation": [
-2.304194699523123,
1.9675685465335846,
2.2459914002123695
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_bowl_03",
"motion_type": "DYNAMIC",
"translation": [
-2.3000013325368154,
1.959817446864623,
2.026935038009875
],
"rotation": [
0.9999687075614929,
3.02320986520499e-05,
-0.007910925894975662,
-1.5386147424578667e-05
]
},
{
"template_name": "objects/frl_apartment_bowl_06",
"motion_type": "DYNAMIC",
"translation": [
-2.0148280289868126,
0.9860160758253187,
1.9435633584398602
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_choppingboard_02",
"motion_type": "DYNAMIC",
"translation": [
-2.470893780576731,
1.124230871146625,
0.2996368765217015
],
"rotation": [
0.7692312598228455,
0.00110531784594059,
-0.0013364872429519892,
-0.6389680504798889
]
},
{
"template_name": "objects/frl_apartment_cup_01",
"motion_type": "DYNAMIC",
"translation": [
-2.2347524260455076,
0.9839239079225155,
2.5455834867564873
],
"rotation": [
0.5828860998153687,
2.8670585379586555e-05,
-0.812553882598877,
-9.420434798812494e-05
]
},
{
"template_name": "objects/frl_apartment_cup_02",
"motion_type": "DYNAMIC",
"translation": [
-2.214234590666959,
0.9960245509012666,
2.0343317995337307
],
"rotation": [
0.8744184970855713,
-2.521073656680528e-05,
0.48517245054244995,
3.168225521221757e-05
]
},
{
"template_name": "objects/frl_apartment_cup_03",
"motion_type": "DYNAMIC",
"translation": [
-2.014204078501008,
0.9989468756136953,
2.625884456835618
],
"rotation": [
0.6396241188049316,
0.06905379146337509,
-0.7654446363449097,
-0.014391734264791012
]
},
{
"template_name": "objects/frl_apartment_cup_05",
"motion_type": "DYNAMIC",
"translation": [
-2.2714504211429487,
1.6191646782269538,
-0.08777824812695996
],
"rotation": [
0.9829491972923279,
0.010767311789095402,
0.1637144237756729,
-0.08302125334739685
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_02",
"motion_type": "DYNAMIC",
"translation": [
-2.3861940011281604,
1.023437587544322,
1.8831332458421457
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.4380024972977026,
1.073550831044234,
0.8075040935798606
],
"rotation": [
0.9999997615814209,
0.0006905339541845024,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.4378340808781664,
1.0735374710300902,
0.7520393759593709
],
"rotation": [
0.9999915361404419,
-0.00012954336125403643,
0.0041076610796153545,
0.00019490181875880808
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.4362191689066273,
1.073656322111625,
0.6974713439171517
],
"rotation": [
0.9999725818634033,
-0.001569421379826963,
0.007094753906130791,
-0.001427198527380824
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.4334397594936146,
1.0736943272569703,
0.6433678367081564
],
"rotation": [
0.9999657869338989,
-0.0027388331945985556,
0.007687870878726244,
0.0013492224970832467
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.3693181813538016,
1.045555235814822,
0.800820418825806
],
"rotation": [
0.9999994039535522,
-8.994694508146495e-05,
-0.0010424728970974684,
0.0003118532185908407
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.3692945908757865,
1.0455741919029977,
0.7443192002691242
],
"rotation": [
0.9999990463256836,
0.00010164138075197116,
-0.0013468938414007425,
0.00028791255317628384
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.3694392273594485,
1.0457193711576154,
0.6884512673229107
],
"rotation": [
0.9999906420707703,
-0.0009539878810755908,
-0.0030415982473641634,
0.0029247840866446495
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_03",
"motion_type": "DYNAMIC",
"translation": [
-2.3692537069258495,
1.045669659061286,
0.6329840479104747
],
"rotation": [
0.9999945163726807,
-0.0017197633860632777,
-0.0023770960979163647,
0.0015359210083261132
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_04",
"motion_type": "DYNAMIC",
"translation": [
-2.3870898435583574,
0.9958302345353944,
0.7214065211444711
],
"rotation": [
0.7067872881889343,
0.00019728817278519273,
-0.7074260711669922,
0.0002018552040681243
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_06",
"motion_type": "DYNAMIC",
"translation": [
-2.369719013928811,
1.006435200222768,
0.49845516828645486
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_08",
"motion_type": "DYNAMIC",
"translation": [
-2.2037752268948507,
1.0207929453210964,
0.27960811518147477
],
"rotation": [
-0.22879289090633392,
3.108954160779831e-06,
0.9734750986099243,
8.980802704172675e-06
]
},
{
"template_name": "objects/frl_apartment_kitchen_utensil_09",
"motion_type": "DYNAMIC",
"translation": [
-2.289553569866257,
1.0432846766915043,
0.1773749939073159
],
"rotation": [
0.9999998807907104,
0.00048828122089616954,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_knifeblock",
"motion_type": "DYNAMIC",
"translation": [
-2.348543637996283,
1.0768983502495526,
0.3116394024157117
],
"rotation": [
0.9997011423110962,
-7.316674600588158e-05,
0.02444627694785595,
1.692515616014134e-05
]
},
{
"template_name": "objects/frl_apartment_lamp_02",
"motion_type": "DYNAMIC",
"translation": [
-2.380551557725994,
1.1460643042438872,
2.378247263077589
],
"rotation": [
0.9999998807907104,
0.00048828122089616954,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_picture_03",
"motion_type": "DYNAMIC",
"translation": [
-2.202208024963563,
1.0591410693907328,
0.40872962480035263
],
"rotation": [
-0.04066768288612366,
-5.865420098416507e-05,
0.999172568321228,
-0.000600935542024672
]
},
{
"template_name": "objects/frl_apartment_plate_01",
"motion_type": "DYNAMIC",
"translation": [
-2.0237434647239496,
0.9644926895707613,
2.614530596328489
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_plate_02",
"motion_type": "DYNAMIC",
"translation": [
-2.074786339653656,
0.9903145898133516,
2.2365984634379856
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_small_appliance_01",
"motion_type": "DYNAMIC",
"translation": [
-2.1520044284869213,
1.0941171244067163,
1.1093579506366988
],
"rotation": [
0.749016523361206,
-6.958800895517925e-06,
-0.6625512838363647,
3.959777586715063e-06
]
},
{
"template_name": "objects/frl_apartment_small_appliance_02",
"motion_type": "DYNAMIC",
"translation": [
-2.293455496674602,
1.0883068079641265,
0.00027938599904468384
],
"rotation": [
0.6880078911781311,
-7.215567620733054e-06,
-0.725703239440918,
-5.757943199569127e-06
]
},
{
"template_name": "objects/frl_apartment_sponge_dish",
"motion_type": "DYNAMIC",
"translation": [
-2.359452578388143,
0.9901276005976285,
2.019432066350272
],
"rotation": [
-0.08553820103406906,
-3.5812074202112854e-05,
0.9963349103927612,
-0.000122436074889265
]
},
{
"template_name": "objects/frl_apartment_vase_01",
"motion_type": "DYNAMIC",
"translation": [
-2.2000489412477937,
2.009392973165427,
1.9418051644656122
],
"rotation": [
0.9993365406990051,
2.154601679649204e-05,
0.03642084449529648,
-1.2603006325662136e-05
]
},
{
"template_name": "objects/frl_apartment_vase_02",
"motion_type": "DYNAMIC",
"translation": [
-2.2740064052454017,
2.2805805536421575,
2.0291172312040135
],
"rotation": [
0.9999997615814209,
0.0006905339541845024,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_picture_02",
"motion_type": "DYNAMIC",
"translation": [
-2.434256977041011,
1.5330551938372095,
-1.3195115062275211
],
"rotation": [
0.6999303102493286,
0.07739216089248657,
-0.705702543258667,
0.07805171608924866
]
},
{
"template_name": "objects/frl_apartment_book_01",
"motion_type": "DYNAMIC",
"translation": [
-2.295449196117455,
1.3921535794368745,
3.8243346473997835
],
"rotation": [
0.70703125,
0.7070346474647522,
-0.0102181201800704,
0.010219680145382881
]
},
{
"template_name": "objects/frl_apartment_book_04",
"motion_type": "DYNAMIC",
"translation": [
-2.301151422955514,
1.4131839241160686,
3.8273309466784213
],
"rotation": [
0.7069840431213379,
0.7071132659912109,
0.009048013016581535,
-0.009087827987968922
]
},
{
"template_name": "objects/frl_apartment_book_04",
"motion_type": "DYNAMIC",
"translation": [
-2.2902067712802046,
1.4216813362910476,
3.924605933151342
],
"rotation": [
0.8188551068305969,
-0.5734226703643799,
-0.009794243611395359,
-0.023807674646377563
]
},
{
"template_name": "objects/frl_apartment_box",
"motion_type": "DYNAMIC",
"translation": [
-2.316598912751886,
1.7439228237219817,
3.8140043126131022
],
"rotation": [
0.690058708190918,
-0.007329364772886038,
0.7236536741256714,
-0.009517813101410866
]
},
{
"template_name": "objects/frl_apartment_clock",
"motion_type": "DYNAMIC",
"translation": [
-2.27528385877913,
0.5732420119159403,
3.80932749170055
],
"rotation": [
0.6518713235855103,
0.002293864032253623,
-0.7582876086235046,
0.007640450727194548
]
},
{
"template_name": "objects/frl_apartment_wall_cabinet_01",
"motion_type": "DYNAMIC",
"translation": [
-2.3155501067277133,
1.0525986160406893,
3.8071231934045704
],
"rotation": [
0.7099927067756653,
-6.376491000992246e-06,
0.70420902967453,
-4.281946530682035e-06
]
},
{
"template_name": "objects/frl_apartment_mat",
"motion_type": "STATIC",
"translation": [
-1.5259588719953687,
0.0453921324059392,
1.5274981492527504
],
"rotation": [
0.7071068286895752,
2.9802322387695312e-08,
-0.7071068286895752,
5.960464477539063e-08
]
},
{
"template_name": "objects/frl_apartment_rack_01",
"motion_type": "DYNAMIC",
"translation": [
-0.5555659536944197,
0.3148324052795254,
-1.1010470404253705
],
"rotation": [
0.708514392375946,
-4.012058980151778e-06,
0.7056963443756104,
-5.306733328325208e-06
]
},
{
"template_name": "objects/frl_apartment_shoe_01",
"motion_type": "DYNAMIC",
"translation": [
-0.5627607330343404,
0.3601914525718911,
-0.8595089671638477
],
"rotation": [
0.7450863122940063,
-0.006604653783142567,
0.6669065952301025,
0.006194774992763996
]
},
{
"template_name": "objects/frl_apartment_shoe_02",
"motion_type": "DYNAMIC",
"translation": [
-0.5455514545998335,
0.36022957205660777,
-1.1294973134412425
],
"rotation": [
0.7195775508880615,
-0.006487198639661074,
0.6943560838699341,
0.005982769653201103
]
},
{
"template_name": "objects/frl_apartment_shoe_03",
"motion_type": "DYNAMIC",
"translation": [
-0.6082795645000724,
0.35775840824787736,
-1.3684191483087909
],
"rotation": [
0.7099436521530151,
-0.014001543633639812,
0.7040293216705322,
0.011255563236773014
]
},
{
"template_name": "objects/frl_apartment_shoe_04",
"motion_type": "DYNAMIC",
"translation": [
-0.5932435215336617,
0.163324793110947,
-0.8721995233023809
],
"rotation": [
0.710030198097229,
0.005396764725446701,
0.704087495803833,
-0.009422685950994492
]
},
{
"template_name": "objects/frl_apartment_indoor_plant_01",
"motion_type": "DYNAMIC",
"translation": [
3.3536048691166798,
1.6929991692304611,
-4.133026239112951
],
"rotation": [
1.0,
0.0,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_cushion_03",
"motion_type": "DYNAMIC",
"translation": [
1.042783694831292,
0.5292530098760643,
6.118423373528035
],
"rotation": [
-0.045276105403900146,
-0.6112546324729919,
0.13717268407344818,
0.7781397700309753
]
},
{
"template_name": "objects/frl_apartment_cushion_03",
"motion_type": "DYNAMIC",
"translation": [
1.0403178471458079,
0.5336251807918813,
4.986437091584188
],
"rotation": [
-0.14050430059432983,
0.9699934124946594,
-0.12387816607952118,
0.15500156581401825
]
},
{
"template_name": "objects/frl_apartment_cushion_03",
"motion_type": "DYNAMIC",
"translation": [
0.9118294433270426,
0.558617182345459,
5.521409154839551
],
"rotation": [
0.31054553389549255,
0.2908885180950165,
-0.05727570503950119,
0.9031416773796082
]
},
{
"template_name": "objects/frl_apartment_sofa",
"motion_type": "DYNAMIC",
"translation": [
0.8603760946090668,
0.40257412956276406,
5.567843825085182
],
"rotation": [
0.7071057558059692,
0.0014817403862252831,
-0.7071046829223633,
0.0014816847397014499
]
},
{
"template_name": "objects/frl_apartment_book_01",
"motion_type": "DYNAMIC",
"translation": [
4.138782413099549,
0.9158678542686507,
7.8441681563957735
],
"rotation": [
0.014862542040646076,
9.048727224580944e-05,
0.9998891949653625,
-0.0008499140967614949
]
},
{
"template_name": "objects/frl_apartment_book_01",
"motion_type": "DYNAMIC",
"translation": [
4.138775979488434,
1.1404720272835365,
7.773115387931909
],
"rotation": [
0.01710088737308979,
0.016715101897716522,
0.7069239020347595,
-0.7068853378295898
]
},
{
"template_name": "objects/frl_apartment_book_01",
"motion_type": "DYNAMIC",
"translation": [
4.137872134346513,
1.1674976116822573,
7.7696532737735895
],
"rotation": [
-0.06164589896798134,
-0.06124754995107651,
-0.7044184803962708,
0.7044453024864197
]
},
{
"template_name": "objects/frl_apartment_book_01",
"motion_type": "DYNAMIC",
"translation": [
4.138613161380452,
1.1945503533898645,
7.773032887871647
],
"rotation": [
-0.017414091154932976,
-0.017058130353689194,
-0.7068792581558228,
0.7069140672683716
]
},
{
"template_name": "objects/frl_apartment_book_01",
"motion_type": "DYNAMIC",
"translation": [
4.1376429457682375,
0.9163678878743347,
7.817089372261752
],
"rotation": [
0.015134070999920368,
-0.0038627951871603727,
0.9998774528503418,
-0.0011566784232854843
]
},
{
"template_name": "objects/frl_apartment_book_02",
"motion_type": "DYNAMIC",
"translation": [
4.146920767530222,
0.6481660960893398,
7.2792294167813
],
"rotation": [
-0.013469452038407326,
0.01305686216801405,
0.7069726586341858,
0.7069920897483826
]
},
{
"template_name": "objects/frl_apartment_book_02",
"motion_type": "DYNAMIC",
"translation": [
4.141936387376142,
1.7233615094655268,
7.5000978645278815
],
"rotation": [
-0.006681316997855902,
0.006295050028711557,
0.7070611715316772,
0.7070930004119873
]
},
{
"template_name": "objects/frl_apartment_book_03",
"motion_type": "DYNAMIC",
"translation": [
4.142784168072537,
1.4165059884853948,
7.491561265771941
],
"rotation": [
-0.006539699621498585,
0.006132169626653194,
0.7070664763450623,
0.7070902585983276
]
},
{
"template_name": "objects/frl_apartment_book_04",
"motion_type": "DYNAMIC",
"translation": [
4.145430018322207,
0.9019462439596684,
7.865443262389662
],
"rotation": [
0.014802944846451283,
-0.00033091611112467945,
0.9998900890350342,
-0.0008670390816405416
]
},
{
"template_name": "objects/frl_apartment_book_04",
"motion_type": "DYNAMIC",
"translation": [
4.145991729199526,
1.215592115447401,
7.74324090126613
],
"rotation": [
0.7071248888969421,
0.7070885896682739,
-4.62751495433622e-06,
0.0003476662386674434
]
},
{
"template_name": "objects/frl_apartment_book_04",
"motion_type": "DYNAMIC",
"translation": [
4.1434171884767075,
0.8521524953315645,
7.727145678164215
],
"rotation": [
0.011495412327349186,
-0.009985821321606636,
0.789447009563446,
0.6136296987533569
]
},
{
"template_name": "objects/frl_apartment_book_05",
"motion_type": "DYNAMIC",
"translation": [
4.161424746210712,
1.419750612595066,
7.744109951930185
],
"rotation": [
0.0007361928001046181,
0.0003434023819863796,
0.7071205377578735,
-0.7070925235748291
]
},
{
"template_name": "objects/frl_apartment_book_05",
"motion_type": "DYNAMIC",
"translation": [
4.16143982872565,
1.4196146924201338,
7.269564981809488
],
"rotation": [
-0.0008589465287514031,
0.0004597619699779898,
0.70709228515625,
0.7071206569671631
]
},
{
"template_name": "objects/frl_apartment_book_05",
"motion_type": "DYNAMIC",
"translation": [
4.161241763223687,
1.4406519595526475,
7.391378877695246
],
"rotation": [
0.00018628040561452508,
-0.0005171797820366919,
0.6882423162460327,
0.7254807353019714
]
},
{
"template_name": "objects/frl_apartment_book_05",
"motion_type": "DYNAMIC",
"translation": [
4.194935994211726,
1.4424386209673439,
7.202871896996543
],
"rotation": [
-0.0035705927293747663,
0.003173460252583027,
0.7070850729942322,
0.7071123719215393
]
},
{
"template_name": "objects/frl_apartment_book_06",
"motion_type": "DYNAMIC",
"translation": [
4.161302214988721,
0.5807693985479158,
7.273601166121628
],
"rotation": [
-0.01644279435276985,
0.01604282297194004,
0.706911027431488,
0.7069293260574341
]
},
{
"template_name": "objects/frl_apartment_box",
"motion_type": "DYNAMIC",
"translation": [
4.142620919338777,
0.8970978454868126,
7.314246429293488
],
"rotation": [
0.7073303461074829,
-0.0015307585708796978,
0.706879734992981,
0.0015884117456153035
]
},
{
"template_name": "objects/frl_apartment_picture_04",
"motion_type": "DYNAMIC",
"translation": [
4.1678590687893635,
1.233222043429767,
7.442867966993002
],
"rotation": [
0.7072662115097046,
-0.0001308915816480294,
0.7069472074508667,
0.0001607074518688023
]
},
{
"template_name": "objects/frl_apartment_wall_cabinet_02",
"motion_type": "DYNAMIC",
"translation": [
4.137996346825202,
1.0820154704228047,
7.482542090438607
],
"rotation": [
0.7070755362510681,
-0.00018826674204319715,
0.707137942314148,
0.00021354653290472925
]
},
{
"template_name": "objects/frl_apartment_indoor_plant_02",
"motion_type": "DYNAMIC",
"translation": [
4.049523253611087,
0.9894132804086064,
6.584152482623815
],
"rotation": [
0.9999987483024597,
1.1154249477840494e-05,
-0.0015821605920791626,
-6.0548995861609e-06
]
},
{
"template_name": "objects/frl_apartment_camera_02",
"motion_type": "DYNAMIC",
"translation": [
0.4664592290691828,
1.7600243950977452,
-0.588453856611148
],
"rotation": [
0.7027458548545837,
-0.015326331369578838,
-0.7110980749130249,
0.015904223546385765
]
},
{
"template_name": "objects/frl_apartment_monitor",
"motion_type": "STATIC",
"translation": [
0.4368983277611323,
1.540834031102675,
-0.52637926005187
],
"rotation": [
0.008410751819610596,
4.656612873077393e-10,
0.999964714050293,
-8.940696716308594e-08
]
},
{
"template_name": "objects/frl_apartment_monitor_stand",
"motion_type": "STATIC",
"translation": [
0.44275689244043837,
1.3695636129013384,
-0.6095985702093399
],
"rotation": [
-4.371138828673793e-08,
-1.7763568394002505e-15,
1.0,
-8.940696716308594e-08
]
},
{
"template_name": "objects/frl_apartment_setupbox",
"motion_type": "STATIC",
"translation": [
0.44261941116360504,
1.0475118251960647,
-0.5594935683077943
],
"rotation": [
0.5661246180534363,
0.8243197798728943,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_bin_02",
"motion_type": "DYNAMIC",
"translation": [
-2.121794035450991,
0.4316004216056245,
-0.47622450624220347
],
"rotation": [
0.7071065902709961,
-4.233940489939414e-05,
0.7071069478988647,
5.088910984341055e-05
]
},
{
"template_name": "objects/frl_apartment_picture_01",
"motion_type": "STATIC",
"translation": [
-0.3643218471114725,
1.3812999475474426,
-3.006252456586423
],
"rotation": [
0.7071068286895752,
2.9802322387695312e-08,
0.7071068286895752,
-5.960464477539063e-08
]
},
{
"template_name": "objects/frl_apartment_umbrella",
"motion_type": "DYNAMIC",
"translation": [
-0.5607055252827635,
0.5343360953660544,
-4.5348644042499595
],
"rotation": [
0.15140773355960846,
0.9840806722640991,
-0.09300901740789413,
0.003215010976418853
]
},
{
"template_name": "objects/frl_apartment_chair_05",
"motion_type": "DYNAMIC",
"translation": [
1.489694024588429,
0.5851503565387801,
1.736122364546406
],
"rotation": [
0.0006149569526314735,
9.67015353126044e-07,
0.9999998211860657,
1.8227799500891706e-06
]
},
{
"template_name": "objects/frl_apartment_chair_05",
"motion_type": "DYNAMIC",
"translation": [
0.842954837078755,
0.5851499407262559,
1.698572813974598
],
"rotation": [
-0.030169839039444923,
2.406139628874371e-06,
0.9995447993278503,
4.2334154386480805e-06
]
},
{
"template_name": "objects/frl_apartment_table_02",
"motion_type": "DYNAMIC",
"translation": [
1.1760168017612764,
0.6050073478026287,
2.17346627817353
],
"rotation": [
-0.0006621320499107242,
-2.3655576342207496e-07,
0.9999997615814209,
-3.184456431881699e-07
]
},
{
"template_name": "objects/frl_apartment_chair_04",
"motion_type": "DYNAMIC",
"translation": [
3.5439027348318217,
0.47397124558482423,
2.11264241569453
],
"rotation": [
0.7070612907409668,
7.983226169017144e-07,
-0.707152247428894,
-2.5172627715619456e-07
]
},
{
"template_name": "objects/frl_apartment_chair_01",
"motion_type": "DYNAMIC",
"translation": [
3.9915572800538737,
0.3648952578095053,
5.930779954871234
],
"rotation": [
0.7079735398292542,
-1.4980816558818333e-05,
0.7062389850616455,
5.033044362789951e-05
]
},
{
"template_name": "objects/frl_apartment_remote-control_01",
"motion_type": "DYNAMIC",
"translation": [
2.6162238092685586,
0.632061910303637,
7.596644413509327
],
"rotation": [
0.059642259031534195,
-1.097122276405571e-05,
0.9982197880744934,
-9.459666034672409e-05
]
},
{
"template_name": "objects/frl_apartment_shoebox_01",
"motion_type": "DYNAMIC",
"translation": [
1.831004097616944,
0.7298465722287872,
7.750248565029453
],
"rotation": [
0.9999998807907104,
0.00048828122089616954,
0.0,
0.0
]
},
{
"template_name": "objects/frl_apartment_tvstand",
"motion_type": "DYNAMIC",
"translation": [
2.400804617733229,
0.3761563136748381,
7.746190743839153
],
"rotation": [
0.9999998211860657,
0.0005980199202895164,
0.0,
0.0
]
}
],
"articulated_object_instances": [
{
"template_name": "fridge",
"translation_origin": "COM",
"fixed_base": true,
"translation": [
-2.1782121658325195,
0.9755649566650391,
3.2299728393554688
],
"rotation": [
1,
0,
0,
0
],
"motion_type": "DYNAMIC"
},
{
"template_name": "kitchen_counter",
"translation_origin": "COM",
"uniform_scale": 0.98,
"fixed_base": true,
"translation": [
-2,
0.04,
1.2346
],
"rotation": [
1,
0,
0,
0
],
"motion_type": "DYNAMIC"
},
{
"template_name": "kitchenCupboard_01",
"translation_origin": "COM",
"fixed_base": true,
"uniform_scale": 0.38,
"translation": [
-2.3,
1.54,
1.2346
],
"rotation": [
-0.707,
0.707,
0,
0
],
"motion_type": "DYNAMIC"
},
{
"template_name": "chestOfDrawers_01",
"translation_origin": "COM",
"fixed_base": true,
"uniform_scale": 0.4,
"translation": [
-2.318626880645752,
0,
-1.3263527154922485
],
"rotation": [
-0.707,
0.707,
0,
0
],
"motion_type": "DYNAMIC"
},
{
"template_name": "cabinet",
"translation_origin": "COM",
"fixed_base": true,
"translation": [
0.4406132400035858,
0.04022252857685089,
-0.3957761228084564
],
"rotation": [
-1,
0,
0,
0
],
"motion_type": "DYNAMIC"
},
{
"template_name": "door2",
"translation_origin": "COM",
"fixed_base": true,
"translation": [
-0.35,
2.4,
-2.65
],
"rotation": [
1,
0,
0,
0
],
"motion_type": "DYNAMIC"
}
],
"navmesh_instance": "empty_stage_navmesh"
}