initialization

.gitattributes

@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text

.gitignore

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+# blender files
+**/*.blend
+**/*.blend1

.vscode/settings.json

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+{
+    "ros.distro": "noetic"
+}

LICENSE.txt

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+CC BY-NC 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/)
+
+Copyright (c) Facebook, Inc. and its affiliates.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this material, to copy and redistribute the material in any medium or format,
+and to remix, transform, and build upon the material subject to the following 
+conditions:
+
+- Attribution: You must give appropriate credit, provide a link to the license, 
+and indicate if changes were made. You may do so in any reasonable manner, 
+but not in any way that suggests the licensor endorses you or your use.
+
+- NonCommercial: You may not use the material for commercial purposes.
+
+- No additional restrictions: You may not apply legal terms or technological 
+measures that legally restrict others from doing anything the license permits.
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE MATERIAL IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+MATERIAL.

agents/DJI_Mavic_Mini_2.glb

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agents/DJI_Mavic_Mini_2_protect.glb

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agents/DJI_Mavic_blue.glb

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agents/DJI_Mavic_orange.glb

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agents/DJI_Mavic_red.glb

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agents/drone_blue.glb

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configs/agents/DJI_Mavic_Mini_2.object_config.json

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+{
+  "render_asset": "../../agents/DJI_Mavic_Mini_2.glb",
+  "collision_asset": "../../agents/DJI_Mavic_Mini_2.glb",
+  "COM": [
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+  "join_collision_meshes": true,
+  "scale":[2.0,2.0,2.0],
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+}

configs/agents/DJI_Mavic_blue.object_config.json

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+{
+  "render_asset": "../../agents/DJI_Mavic_blue.glb",
+  "collision_asset": "../../agents/DJI_Mavic_blue.glb",
+  "COM": [
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+  "join_collision_meshes": true,
+  "scale":[1.0,1.0,1.0],
+  "semantic_id": 6
+}

configs/agents/DJI_Mavic_green.object_config.json

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+{
+  "render_asset": "../../agents/DJI_Mavic_green.glb",
+  "collision_asset": "../../agents/DJI_Mavic_green.glb",
+  "COM": [
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configs/agents/DJI_Mavic_orange.object_config.json

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+{
+  "render_asset": "../../agents/DJI_Mavic_orange.glb",
+  "collision_asset": "../../agents/DJI_Mavic_orange.glb",
+  "COM": [
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+  "scale":[1.0,1.0,1.0],
+  "semantic_id": 6
+}

configs/agents/DJI_Mavic_red.object_config.json

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+{
+  "render_asset": "../../agents/DJI_Mavic_red.glb",
+  "collision_asset": "../../agents/DJI_Mavic_red.glb",
+  "COM": [
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configs/agents/drone_blue.object_config.json

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+{
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+}

configs/agents/drone_green.object_config.json

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+{
+  "render_asset": "../../agents/drone_green.glb",
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+  "scale":[2.0,2.0,2.0],
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+}

configs/agents/drone_orange.object_config.json

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+{
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+  "collision_asset": "../../agents/drone_orange.glb",
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+  "scale":[2.0,2.0,2.0],
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+}

configs/agents/drone_red.object_config.json

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+{
+  "render_asset": "../../agents/drone_red.glb",
+  "collision_asset": "../../agents/drone_red.glb",
+  "COM": [
+    0,
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+  "join_collision_meshes": true,
+  "scale":[2.0,2.0,2.0],
+  "semantic_id": 6
+}

configs/lighting/box10_0.lighting_config.json

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configs/lighting/box15_0.lighting_config.json

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+  }
+}

configs/lighting/frl_apartment_1.lighting_config.json

@@ -0,0 +1,214 @@
+{
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+}

configs/lighting/frl_apartment_2.lighting_config.json

@@ -0,0 +1,228 @@
+{
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+}

configs/lighting/frl_apartment_3.lighting_config.json

@@ -0,0 +1,228 @@
+{
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+}

configs/lighting/frl_apartment_4.lighting_config.json

@@ -0,0 +1,228 @@
+{
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+}

configs/lighting/frl_apartment_5.lighting_config.json

@@ -0,0 +1,228 @@
+{
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+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
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+    },
+    "9": {
+      "type": "point",
+      "position": [
+        0.9,
+        0.9,
+        2.1
+      ],
+      "intensity": -0.4138028520389279,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "10": {
+      "type": "point",
+      "position": [
+        1.4,
+        0.9,
+        2.1
+      ],
+      "intensity": -0.4138028520389279,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "11": {
+      "type": "point",
+      "position": [
+        4.5,
+        0.7,
+        2.3
+      ],
+      "intensity": -0.5092958178940651,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "12": {
+      "type": "point",
+      "position": [
+        4.5,
+        0.7,
+        1.5
+      ],
+      "intensity": -0.5092958178940651,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "13": {
+      "type": "point",
+      "position": [
+        2.4,
+        0.8,
+        8.8
+      ],
+      "intensity": -1.7825353626292277,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "14": {
+      "type": "point",
+      "position": [
+        -2.756,
+        0.9,
+        -1.19
+      ],
+      "intensity": -0.6684507609859605,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "15": {
+      "type": "point",
+      "position": [
+        4.4,
+        0.4,
+        4.9
+      ],
+      "intensity": -0.6366197723675814,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    }
+  }
+}

configs/lighting/frl_apartment_stage.lighting_config.json

@@ -0,0 +1,102 @@
+{
+  "lights": {
+    "0": {
+      "type": "point",
+      "position": [
+        -0.9100000000000004,
+        2.3,
+        2.53
+      ],
+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "1": {
+      "type": "point",
+      "position": [
+        -1.4000000000000001,
+        2.3,
+        -0.17500000000000016
+      ],
+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "2": {
+      "type": "point",
+      "position": [
+        -1.4,
+        2.3,
+        -2.7750000000000004
+      ],
+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "3": {
+      "type": "point",
+      "position": [
+        6.928,
+        3.3,
+        6.849
+      ],
+      "intensity": 4.45633840657307,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "4": {
+      "type": "point",
+      "position": [
+        7.048,
+        3.3,
+        2.3780000000000014
+      ],
+      "intensity": 7.321127382227186,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "5": {
+      "type": "point",
+      "position": [
+        1.65,
+        2.6,
+        -2.03
+      ],
+      "intensity": -1.336901521971921,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "6": {
+      "type": "point",
+      "position": [
+        6.06,
+        2.6,
+        -2.67
+      ],
+      "intensity": -2.673803043943842,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    }
+  }
+}

configs/lighting/garage_v1_0.lighting_config.json

@@ -0,0 +1,258 @@
+{
+  "lights": {
+    "0": {
+      "type": "point",
+      "position": [
+        -0.0,
+        7,
+        -2
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "1": {
+      "type": "point",
+      "position": [
+        -0.0,
+        7,
+        -5
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "2": {
+      "type": "point",
+      "position": [
+        -0.0,
+        7,
+        -8
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "3": {
+      "type": "point",
+      "position": [
+        -0.0,
+        7,
+        -11
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "4": {
+      "type": "point",
+      "position": [
+        -0.0,
+        7,
+        -14
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "5": {
+      "type": "point",
+      "position": [
+        -0.0,
+        7,
+        -17
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+
+    "12": {
+      "type": "point",
+      "position": [
+        -6.0,
+        6,
+        -2
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "13": {
+      "type": "point",
+      "position": [
+        -6.0,
+        6,
+        -5
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "14": {
+      "type": "point",
+      "position": [
+        -6.0,
+        6,
+        -8
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "15": {
+      "type": "point",
+      "position": [
+        -6.0,
+        6,
+        -11
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "16": {
+      "type": "point",
+      "position": [
+        -6.0,
+        6,
+        -14
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "17": {
+      "type": "point",
+      "position": [
+        -6.0,
+        6,
+        -17
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+
+    "6": {
+      "type": "point",
+      "position": [
+        6.0,
+        6,
+        -2
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "7": {
+      "type": "point",
+      "position": [
+        6.0,
+        6,
+        -5
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "8": {
+      "type": "point",
+      "position": [
+        6.0,
+        6,
+        -8
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "9": {
+      "type": "point",
+      "position": [
+        6.0,
+        6,
+        -11
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "10": {
+      "type": "point",
+      "position": [
+        6.0,
+        6,
+        -14
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "11": {
+      "type": "point",
+      "position": [
+        6.0,
+        6,
+        -17
+      ],
+      "intensity": 4.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    }
+  }
+}

configs/objects/frl_apartment_basket.object_config.json

@@ -0,0 +1,28 @@
+{
+  "render_asset": "../../objects/frl_apartment_basket.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_basket_cv_decomp.glb",
+  "mass": 0.5,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 3,
+  "user_defined": {
+    "receptacle_aabb_volumefrl_apartment_basket": {
+      "name": "receptacle_aabb_volumefrl_apartment_basket",
+      "parent_object": "frl_apartment_basket",
+      "position": [
+        0.0,
+        0.0,
+        -0.02796272560954094
+      ],
+      "scale": [
+        0.07694476842880249,
+        0.1227625384926796,
+        0.09645946323871613
+      ]
+    }
+  }
+}

configs/objects/frl_apartment_beanbag.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_beanbag.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_beanbag_cv_decomp.glb",
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "mass": 11,
+  "join_collision_meshes": false,
+  "semantic_id": 6
+}

configs/objects/frl_apartment_bike_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bike_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bike_01_cv_decomp.glb",
+  "mass": 9,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 9
+}

configs/objects/frl_apartment_bike_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bike_02.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bike_02_cv_decomp.glb",
+  "mass": 9,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 9
+}

configs/objects/frl_apartment_bin_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bin_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bin_01_cv_decomp.glb",
+  "mass": 1.36,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 10
+}

configs/objects/frl_apartment_bin_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bin_02.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bin_02_cv_decomp.glb",
+  "mass": 1.6,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 10
+}

configs/objects/frl_apartment_bin_03.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bin_03.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bin_03_cv_decomp.glb",
+  "mass": 1.81437,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 10
+}

configs/objects/frl_apartment_book_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_book_01.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.85,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 13
+}

configs/objects/frl_apartment_book_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_book_02.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 2.0,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 13
+}

configs/objects/frl_apartment_book_03.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_book_03.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.35,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 13
+}

configs/objects/frl_apartment_book_04.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_book_04.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.3,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 13
+}

configs/objects/frl_apartment_book_05.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_book_05.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.8,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 13
+}

configs/objects/frl_apartment_book_06.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_book_06.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 4.8,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 13
+}

configs/objects/frl_apartment_bowl_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bowl_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bowl_01_cv_decomp.glb",
+  "mass": 4.5,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 16
+}

configs/objects/frl_apartment_bowl_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bowl_02.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bowl_02_cv_decomp.glb",
+  "mass": 3.6,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 16
+}

configs/objects/frl_apartment_bowl_03.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bowl_03.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bowl_03_cv_decomp.glb",
+  "mass": 1.95,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 16
+}

configs/objects/frl_apartment_bowl_06.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bowl_06.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bowl_06_cv_decomp.glb",
+  "mass": 1.3,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 16
+}