Augmented ReplicaCAD initial

.gitattributes

@@ -9,7 +9,6 @@
 *.joblib filter=lfs diff=lfs merge=lfs -text
 *.lfs.* filter=lfs diff=lfs merge=lfs -text
 *.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
 *.mlmodel filter=lfs diff=lfs merge=lfs -text
 *.model filter=lfs diff=lfs merge=lfs -text
 *.msgpack filter=lfs diff=lfs merge=lfs -text
@@ -54,6 +53,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
 *.webp 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

LICENSE.txt

@@ -0,0 +1,28 @@
+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.

README.md

@@ -1,3 +1,43 @@
----
-license: cc-by-4.0
----
+# Augmented ReplicaCAD Dataset
+
+<!-- ![Demo](assets/demo.gif) -->
+[![Demo](assets/demo.png)](https://be2rlab.github.io/OSMa-Bench/static/videos/combined_semantics.mp4)
+
+
+We present **Augmented ReplicaCAD** dataset. This dataset is part of [OSMa-Bench](https://be2rlab.github.io/OSMa-Bench/) pipeline.
+
+## What is Augmented ReplicaCAD?
+
+[**Visit the ReplicaCAD Homepage**](https://aihabitat.org/datasets/replica_cad/)
+
+The ReplicaCAD dataset is an artist recreation of the scanned “FRL apartment” variations from the Replica dataset. We augmented the original data with semantic masks to provide higher-quality ground-truth annotations for semantic segmentation tasks.
+
+All materials are licensed under the [Creative Commons Attribution 4.0 International (CC BY 4.0) Public License](https://creativecommons.org/licenses/by/4.0/).
+
+## Dataset Contents:
+
+ReplicaCAD offers two dataset variants: one designed for interactive simulation and another for photorealistic visualization with baked lighting. For our work, we selected the simulation-oriented version (without baked lighting) because it includes additional Habitat-specific metadata that enables loading and using semantic annotations.
+
+Note: downloadable dataset contain 84 of the 105 variations described in the paper and shown in the video with the remaining 21 scenes (1 macro variation and associated 20 micro variations) withheld as a test set for challenge evaluation.
+
+Follow the link for additional info: [HuggingFace](https://huggingface.co/datasets/ai-habitat/ReplicaCAD_dataset)
+
+## Citing Augmented ReplicaCAD
+
+Using Augmented ReplicaCAD in your research? Please cite following papers: [OSMa-Bench arxiv](https://arxiv.org/abs/2503.10331) and [ReplicaCAD arxiv](https://arxiv.org/abs/2106.14405).
+
+```bibtex
+@inproceedings{popov2025osmabench,
+    title     = {OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions},
+    author    = {Popov, Maxim and Kurkova, Regina and Iumanov, Mikhail and Mahmoud, Jaafar and Kolyubin, Sergey},
+    booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+    year      = {2025}
+}
+
+@inproceedings{szot2021habitat,
+    title     =     {Habitat 2.0: Training Home Assistants to Rearrange their Habitat},
+    author    =     {Andrew Szot and Alex Clegg and Eric Undersander and Erik Wijmans and Yili Zhao and John Turner and Noah Maestre and Mustafa Mukadam and Devendra Chaplot and Oleksandr Maksymets and Aaron Gokaslan and Vladimir Vondrus and Sameer Dharur and Franziska Meier and Wojciech Galuba and Angel Chang and Zsolt Kira and Vladlen Koltun and Jitendra Malik and Manolis Savva and Dhruv Batra},
+    booktitle =     {Advances in Neural Information Processing Systems (NeurIPS)},
+    year      =     {2021}
+}
+```

configs/lighting/frl_apartment_0.lighting_config.json

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configs/lighting/frl_apartment_1.lighting_config.json

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configs/lighting/frl_apartment_2.lighting_config.json

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configs/lighting/frl_apartment_3.lighting_config.json

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+      "color": [
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+      "color": [
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+    "12": {
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+      "color": [
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+    "13": {
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+      "intensity": -0.6684507609859605,
+      "color": [
+        1,
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+      ]
+    },
+    "14": {
+      "type": "point",
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+      "intensity": -1.2732395447351628,
+      "color": [
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+    },
+    "15": {
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+      ],
+      "intensity": -0.3819718634205488,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    }
+  }
+}

configs/lighting/frl_apartment_4.lighting_config.json

@@ -0,0 +1,228 @@
+{
+  "lights": {
+    "0": {
+      "type": "point",
+      "position": [
+        -0.9100000000000004,
+        2.3,
+        2.53
+      ],
+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "1": {
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+      "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
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+    },
+    "3": {
+      "type": "point",
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+      "color": [
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+    "4": {
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+      "intensity": 7.321127382227186,
+      "color": [
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+        1
+      ]
+    },
+    "5": {
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+      "color": [
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+    "6": {
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+      "intensity": -2.673803043943842,
+      "color": [
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+    "7": {
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+      "position": [
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+      "intensity": 0.9803944494460753,
+      "color": [
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+    },
+    "8": {
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+      "color": [
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+      "color": [
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+      "color": [
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+    "11": {
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+      "color": [
+        1,
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+      ]
+    },
+    "12": {
+      "type": "point",
+      "position": [
+        2.2,
+        0.7,
+        1.5
+      ],
+      "intensity": -0.2864788975654116,
+      "color": [
+        1,
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+      ]
+    },
+    "13": {
+      "type": "point",
+      "position": [
+        -2.75,
+        0.9,
+        -1.2
+      ],
+      "intensity": -0.6684507609859605,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "14": {
+      "type": "point",
+      "position": [
+        2.35,
+        0.4,
+        5.4
+      ],
+      "intensity": -0.3183098861837907,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    },
+    "15": {
+      "type": "point",
+      "position": [
+        2.7,
+        0.7,
+        8.8
+      ],
+      "intensity": -1.464225476445437,
+      "color": [
+        1,
+        1,
+        1
+      ]
+    }
+  }
+}

configs/lighting/frl_apartment_5.lighting_config.json

@@ -0,0 +1,228 @@
+{
+  "lights": {
+    "0": {
+      "type": "point",
+      "position": [
+        1.1,
+        1.85,
+        2.1
+      ],
+      "intensity": 0.9803944494460753,
+      "color": [
+        1,
+        1,
+        0.95
+      ]
+    },
+    "1": {
+      "type": "point",
+      "position": [
+        2.2,
+        1.5,
+        7.1
+      ],
+      "intensity": 0.9803944494460753,
+      "color": [
+        1,
+        1,
+        0.95
+      ]
+    },
+    "2": {
+      "type": "point",
+      "position": [
+        -0.91,
+        2.3,
+        2.53
+      ],
+      "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,
+        2.378
+      ],
+      "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
+      ]
+    },
+    "7": {
+      "type": "point",
+      "position": [
+        -1.4,
+        2.3,
+        -0.175
+      ],
+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "8": {
+      "type": "point",
+      "position": [
+        -1.4,
+        2.3,
+        -2.775
+      ],
+      "intensity": 1.1586479857089982,
+      "color": [
+        0.93,
+        0.98,
+        1
+      ]
+    },
+    "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/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
+}

configs/objects/frl_apartment_bowl_07.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_bowl_07.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_bowl_07_cv_decomp.glb",
+  "mass": 5.2,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 16
+}

configs/objects/frl_apartment_box.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_box.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_box_cv_decomp.glb",
+  "mass": 3.1,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 15
+}

configs/objects/frl_apartment_cabinet.object_config.json

@@ -0,0 +1,28 @@
+{
+  "render_asset": "../../objects/frl_apartment_cabinet.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cabinet_cv_decomp.glb",
+  "mass": 31.8,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 18,
+  "user_defined": {
+    "receptacle_aabb_Cbnt_Top1_frl_apartment_cabinet": {
+      "name": "receptacle_aabb_Cbnt_Top1_frl_apartment_cabinet",
+      "parent_object": "frl_apartment_cabinet",
+      "position": [
+        -0.0011911201290786266,
+        -0.4082135260105133,
+        -0.04914289712905884
+      ],
+      "scale": [
+        -0.1930883377790451,
+        -0.7853175401687622,
+        -0.10607102513313293
+      ]
+    }
+  }
+}

configs/objects/frl_apartment_camera_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_camera_02.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_camera_02_cv_decomp.glb",
+  "mass": 1.0,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 17
+}

configs/objects/frl_apartment_chair_01.object_config.json

@@ -0,0 +1,28 @@
+{
+  "render_asset": "../../objects/frl_apartment_chair_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_chair_01_cv_decomp.glb",
+  "mass": 22,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 20,
+  "user_defined": {
+    "receptacle_aabb_Chr1_Top1_frl_apartment_chair_01": {
+      "name": "receptacle_aabb_Chr1_Top1_frl_apartment_chair_01",
+      "parent_object": "frl_apartment_chair_01",
+      "position": [
+        0.008015149272978306,
+        0.1362682580947876,
+        -0.08876887708902359
+      ],
+      "scale": [
+        0.22962655127048492,
+        0.09460679441690445,
+        0.21536538004875183
+      ]
+    }
+  }
+}

configs/objects/frl_apartment_chair_04.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_chair_04.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_chair_04_cv_decomp.glb",
+  "mass": 4,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 20
+}

configs/objects/frl_apartment_chair_05.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_chair_05.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_chair_05_cv_decomp.glb",
+  "mass": 15.4,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 20
+}

configs/objects/frl_apartment_choppingboard_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_choppingboard_02.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.9,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 21
+}

configs/objects/frl_apartment_clock.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_clock.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_clock_cv_decomp.glb",
+  "mass": 1.8,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 22
+}

configs/objects/frl_apartment_cloth_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cloth_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cloth_01_cv_decomp.glb",
+  "mass": 2,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 23
+}

configs/objects/frl_apartment_cloth_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cloth_02.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cloth_02_cv_decomp.glb",
+  "mass": 0.6,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 23
+}

configs/objects/frl_apartment_cloth_03.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cloth_03.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cloth_03_cv_decomp.glb",
+  "mass": 1.3,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 23
+}

configs/objects/frl_apartment_cloth_04.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cloth_04.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cloth_04_cv_decomp.glb",
+  "mass": 2,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 23
+}

configs/objects/frl_apartment_clothes_hanger_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_clothes_hanger_01.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.9,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 56
+}

configs/objects/frl_apartment_clothes_hanger_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_clothes_hanger_02.glb",
+  "use_bounding_box_for_collision": true,
+  "mass": 0.9,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 56
+}

configs/objects/frl_apartment_cup_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cup_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cup_01_cv_decomp.glb",
+  "mass": 0.5,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 28
+}

configs/objects/frl_apartment_cup_02.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cup_02.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cup_02_cv_decomp.glb",
+  "mass": 0.6,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 28
+}

configs/objects/frl_apartment_cup_03.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cup_03.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cup_03_cv_decomp.glb",
+  "mass": 0.6,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 28
+}

configs/objects/frl_apartment_cup_05.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cup_05.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cup_05_cv_decomp.glb",
+  "mass": 0.5,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 28
+}

configs/objects/frl_apartment_cushion_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cushion_01.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cushion_01_cv_decomp.glb",
+  "mass": 0.3,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 29
+}

configs/objects/frl_apartment_cushion_03.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_cushion_03.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_cushion_03_cv_decomp.glb",
+  "mass": 0.3,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 29
+}

configs/objects/frl_apartment_handbag.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../objects/frl_apartment_handbag.glb",
+  "collision_asset": "../../objects/convex/frl_apartment_handbag_cv_decomp.glb",
+  "mass": 3,
+  "COM": [
+    0,
+    0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 41
+}