initial lfs commit

.gitattributes

@@ -53,3 +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
+*.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.

configs/ReplicaCAD_baked_object_counts.json

@@ -0,0 +1,45 @@
+{
+  "frl_apartment_beanbag_01": 72,
+  "frl_apartment_beanbag_02": 54,
+  "frl_apartment_bike_01": 42,
+  "frl_apartment_bike_02": 84,
+  "frl_apartment_blinds": 105,
+  "frl_apartment_cabinet": 105,
+  "frl_apartment_camera_02": 104,
+  "frl_apartment_ceiling": 105,
+  "frl_apartment_chair_01": 105,
+  "frl_apartment_chair_01.999": 105,
+  "frl_apartment_clothes_hanger_02": 105,
+  "frl_apartment_door_01": 105,
+  "frl_apartment_door_04": 105,
+  "frl_apartment_door_05": 105,
+  "frl_apartment_door_06": 105,
+  "frl_apartment_door_part_00": 105,
+  "frl_apartment_door_part_01": 105,
+  "frl_apartment_door_part_02": 105,
+  "frl_apartment_door_part_03": 105,
+  "frl_apartment_door_part_04": 105,
+  "frl_apartment_floor": 105,
+  "frl_apartment_indoor_plant_01": 105,
+  "frl_apartment_indoor_plant_02": 105,
+  "frl_apartment_kitchen_cabinet": 105,
+  "frl_apartment_mat": 105,
+  "frl_apartment_picture_01": 104,
+  "frl_apartment_pipe": 105,
+  "frl_apartment_rug_01": 105,
+  "frl_apartment_rug_02": 105,
+  "frl_apartment_sofa": 105,
+  "frl_apartment_stair": 105,
+  "frl_apartment_switch_02": 104,
+  "frl_apartment_table_01": 105,
+  "frl_apartment_table_02": 105,
+  "frl_apartment_table_03": 63,
+  "frl_apartment_tv_screen": 105,
+  "frl_apartment_tvstand": 105,
+  "frl_apartment_wall-plug_01": 104,
+  "frl_apartment_wall_arch": 92,
+  "frl_apartment_wall_arch.001": 13,
+  "frl_apartment_wall_cabinet_01": 102,
+  "frl_apartment_wall_cabinet_02": 105,
+  "frl_apartment_wall_cabinet_03_body": 105
+}

configs/scenes/Baked_sc0_staging_00.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_00",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_00",
+  "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": [
+        2.7415575981140137,
+        0.05,
+        7.787896633148193
+      ],
+      "rotation": [
+        0.022600079540851296,
+        -1.18538013710312e-08,
+        0.9997445855840974,
+        1.685873962098405e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.333279848098755,
+        0.0,
+        -0.4101424217224121
+      ],
+      "rotation": [
+        0.7071068549435273,
+        -0.7071067074295597,
+        1.66558605942409e-16,
+        -2.107342393432203e-08
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_01.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_01",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_01",
+  "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": [
+        2.673454761505127,
+        0.05,
+        7.627686023712158
+      ],
+      "rotation": [
+        -0.011609089723888662,
+        -7.902533964015968e-09,
+        0.9999326122473333,
+        8.429369535711828e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        0.18798112869262695,
+        0.0,
+        -0.35399776697158813
+      ],
+      "rotation": [
+        -0.4997442842057946,
+        0.49974424823280195,
+        0.5002556693552105,
+        0.5002555367408141
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_02.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_02",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_02",
+  "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": [
+        3.281822681427002,
+        0.05,
+        7.658101558685303
+      ],
+      "rotation": [
+        -0.03190426594295512,
+        -7.9025340403438e-09,
+        0.999490929330844,
+        8.429369680040821e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.0043487548828125,
+        0.0,
+        -0.27634018659591675
+      ],
+      "rotation": [
+        0.7040048725701429,
+        -0.7040047250561833,
+        0.06616079064822598,
+        0.06616068528111192
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_03.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_03",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_03",
+  "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": [
+        3.840893030166626,
+        0.05,
+        3.7770113945007324
+      ],
+      "rotation": [
+        -0.6935826032946911,
+        1.4751397148238254e-07,
+        0.720377104305045,
+        1.264405470324803e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.3392903804779053,
+        0.0,
+        3.018192768096924
+      ],
+      "rotation": [
+        0.7070255948818698,
+        -0.7070254473679071,
+        -0.010719692177053248,
+        -0.010719755397323052
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_04.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_04",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_04",
+  "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": [
+        3.0328104496002197,
+        0.05,
+        7.525379657745361
+      ],
+      "rotation": [
+        -0.00015466446228753442,
+        -9.21447827669777e-09,
+        0.9999999880394378,
+        1.685873947665506e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.0026886463165283,
+        0.0,
+        -0.38161802291870117
+      ],
+      "rotation": [
+        0.7071068760169403,
+        -0.7071066863561417,
+        0.0,
+        2.1073421935618755e-08
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_05.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_05",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_05",
+  "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,
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+      ],
+      "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": [
+        4.120611190795898,
+        0.05,
+        5.6692914962768555
+      ],
+      "rotation": [
+        -0.7093251038675377,
+        4.2146848955315606e-08,
+        0.7048814772877054,
+        8.429369774409776e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.14378023147583,
+        0.0,
+        -2.030649185180664
+      ],
+      "rotation": [
+        0.7038574060590441,
+        -0.7038573639121981,
+        -0.06771099428746365,
+        -0.06771103643430962
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_06.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_06",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_06",
+  "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
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_07.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_07",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_07",
+  "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": [
+        4.192234516143799,
+        0.05,
+        6.934267520904541
+      ],
+      "rotation": [
+        -0.707377069931825,
+        1.2644054570021265e-07,
+        0.7068363890849341,
+        1.4751396992807028e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.244004487991333,
+        0.0,
+        -1.3084646463394165
+      ],
+      "rotation": [
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+        -0.7071031806119523,
+        -0.0022299264109247414,
+        -0.0022300107046170367
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_08.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_08",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_08",
+  "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": [
+        4.031461238861084,
+        0.05,
+        5.77450704574585
+      ],
+      "rotation": [
+        -0.6985278404971249,
+        1.0536711930742015e-07,
+        0.7155828785335743,
+        1.2644054325772203e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.3342630863189697,
+        0.0,
+        1.3415406942367554
+      ],
+      "rotation": [
+        0.707041150526367,
+        -0.7070409608655567,
+        0.009640859392537084,
+        0.009640796172267003
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_09.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_09",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_09",
+  "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": [
+        3.7487802505493164,
+        0.05,
+        1.6557966470718384
+      ],
+      "rotation": [
+        -0.7142170976208158,
+        -4.2146849288382526e-08,
+        0.6999242369471801,
+        6.322027418237397e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -1.7009142637252808,
+        0.0,
+        3.5646698474884033
+      ],
+      "rotation": [
+        0.6512901822248476,
+        -0.6512900979311546,
+        0.27535645379759105,
+        0.27535636950389814
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_10.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_10",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_10",
+  "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": [
+        0.4944474697113037,
+        0.05,
+        -0.4283074140548706
+      ],
+      "rotation": [
+        0.9999999999363639,
+        -8.429369863227622e-08,
+        1.128117116195342e-05,
+        -1.975633557549103e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.196805477142334,
+        0.0,
+        -0.47590193152427673
+      ],
+      "rotation": [
+        0.005723056903871612,
+        -0.005723120124139362,
+        0.7070836941710392,
+        0.7070835466570808
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_11.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_11",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_11",
+  "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": [
+        2.673454761505127,
+        0.05,
+        7.627686023712158
+      ],
+      "rotation": [
+        -0.011609089723888662,
+        -7.902533964015968e-09,
+        0.9999326122473333,
+        8.429369535711828e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        0.8609201908111572,
+        0.0,
+        -0.35844066739082336
+      ],
+      "rotation": [
+        0.5000000640025423,
+        -0.4999999578531487,
+        -0.5000000202911524,
+        -0.4999999578531487
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_12.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_12",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_12",
+  "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": [
+        4.124051570892334,
+        0.05,
+        6.018693447113037
+      ],
+      "rotation": [
+        -0.7098301455955914,
+        0.0,
+        0.7043728873286752,
+        8.429369713347511e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.2387821674346924,
+        0.0,
+        1.1364701986312866
+      ],
+      "rotation": [
+        0.7070980700708417,
+        -0.7070979014834493,
+        -0.0035267850242573433,
+        -0.0035268693179535803
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_13.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_13",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_13",
+  "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": [
+        0.0108870854601264,
+        0.05,
+        3.774937629699707
+      ],
+      "rotation": [
+        0.01894669824891609,
+        -1.3170890419966772e-09,
+        0.9998204952017238,
+        2.1073422801221037e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.336125135421753,
+        0.0,
+        3.108123302459717
+      ],
+      "rotation": [
+        0.7071068760169403,
+        -0.7071066863561417,
+        0.0,
+        2.1073421935618755e-08
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_14.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_14",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_14",
+  "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": [
+        0.25964704155921936,
+        0.05,
+        3.773890495300293
+      ],
+      "rotation": [
+        -0.00015466446228753442,
+        -9.21447827669777e-09,
+        0.9999999880394378,
+        1.685873947665506e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.223629951477051,
+        0.0,
+        0.2719871401786804
+      ],
+      "rotation": [
+        0.7062442016000583,
+        -0.706244096232931,
+        0.03491710653362353,
+        0.034917043313347
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_15.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_15",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_15",
+  "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": [
+        -1.832991361618042,
+        0.05,
+        3.236292600631714
+      ],
+      "rotation": [
+        0.689213113537178,
+        -4.214684778958145e-08,
+        0.7245586823221343,
+        0.0
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        1.1303119659423828,
+        0.0,
+        -2.146946907043457
+      ],
+      "rotation": [
+        -0.0027992670353144855,
+        0.0027992038150461244,
+        0.7071013774520575,
+        0.707101103497562
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_16.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_16",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_16",
+  "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": [
+        4.0346760749816895,
+        0.05,
+        6.923562526702881
+      ],
+      "rotation": [
+        -0.7062949677789703,
+        8.429369924289883e-08,
+        0.7079176636375734,
+        1.264405489198594e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.2623648643493652,
+        0.0,
+        -1.8452720642089844
+      ],
+      "rotation": [
+        0.7070974590247651,
+        -0.7070973958044968,
+        0.0036371041826558682,
+        0.003636998815542193
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_17.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_17",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_17",
+  "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": [
+        4.192234516143799,
+        0.05,
+        6.364755153656006
+      ],
+      "rotation": [
+        -0.707377069931825,
+        1.2644054570021265e-07,
+        0.7068363890849341,
+        1.4751396992807028e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.0230636596679688,
+        0.0,
+        0.14487957954406738
+      ],
+      "rotation": [
+        0.7068644536918565,
+        -0.7068642851044635,
+        -0.018513824962235265,
+        -0.018513909255931833
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_18.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_18",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_18",
+  "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": [
+        -2.265995979309082,
+        0.05,
+        0.9676002264022827
+      ],
+      "rotation": [
+        0.698862115709701,
+        -1.4751396887335844e-07,
+        0.7152564178151237,
+        1.2644054492305656e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        3.8911359310150146,
+        0.0,
+        3.8070263862609863
+      ],
+      "rotation": [
+        -0.010468835058646405,
+        0.010468750764946225,
+        0.7070293654235282,
+        0.7070291968361274
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_19.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_19",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_19",
+  "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": [
+        1.209349513053894,
+        0.05,
+        1.6557966470718384
+      ],
+      "rotation": [
+        -0.7142170976208158,
+        -4.2146849288382526e-08,
+        0.6999242369471801,
+        6.322027418237397e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -1.251835584640503,
+        0.0,
+        3.8647079467773438
+      ],
+      "rotation": [
+        0.5098410985525323,
+        -0.5098410998696211,
+        0.4899613204133654,
+        0.48996123480258486
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc0_staging_20.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc0_staging_20",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc0_staging_20",
+  "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": [
+        0.4948993921279907,
+        0.05,
+        -0.34530141949653625
+      ],
+      "rotation": [
+        -0.9994432421459669,
+        8.429369152684889e-08,
+        0.03336473780431447,
+        2.239051181962549e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.163763999938965,
+        0.0,
+        -0.46416303515434265
+      ],
+      "rotation": [
+        0.005723056903871612,
+        -0.005723120124139362,
+        0.7070836941710392,
+        0.7070835466570808
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_00.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_00",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_00",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        4.131650924682617,
+        0.0,
+        4.536113262176514
+      ],
+      "rotation": [
+        -0.0054214119039316016,
+        0.005421348683663907,
+        0.7070860928785173,
+        0.7070859032177143
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_01.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_01",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_01",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        0.6491072773933411,
+        0.05,
+        6.8205485343933105
+      ],
+      "rotation": [
+        0.6828470271628955,
+        -1.685873766699153e-07,
+        0.730561385165375,
+        1.264405324885587e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        3.8257269859313965,
+        0.0,
+        4.316568374633789
+      ],
+      "rotation": [
+        0.12857365996164793,
+        -0.12857374425534432,
+        0.6953192516658376,
+        0.695319167372141
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_02.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_02",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_02",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        2.214672088623047,
+        0.05,
+        7.842538833618164
+      ],
+      "rotation": [
+        -0.028105096210571386,
+        -2.107342403183388e-08,
+        0.999604973760618,
+        1.6858739265712688e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        3.8668131828308105,
+        0.0,
+        7.43639612197876
+      ],
+      "rotation": [
+        0.23358999209093384,
+        -0.23358994994408536,
+        0.6674098186917227,
+        0.6674096079574814
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_03.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_03",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_03",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        4.984253883361816
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.166500091552734,
+        0.0,
+        4.615927696228027
+      ],
+      "rotation": [
+        -0.005421370162856197,
+        0.005421328016007885,
+        0.7070861036544851,
+        0.7070858929202442
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_04.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_04",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_04",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        0.71318519115448,
+        0.05,
+        6.749114990234375
+      ],
+      "rotation": [
+        0.642437670113855,
+        -1.2644054597776844e-07,
+        0.7663379411321474,
+        8.429369741103088e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.030834674835205,
+        0.0,
+        4.4503703117370605
+      ],
+      "rotation": [
+        -0.04297985954636321,
+        0.04297977525266703,
+        0.7057994433868421,
+        0.7057992747994496
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_05.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_05",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_05",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        1.3175342082977295,
+        0.05,
+        7.77209997177124
+      ],
+      "rotation": [
+        0.0006191346490735951,
+        -3.6919651296275866e-08,
+        0.9999998083360921,
+        2.528810899016243e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        3.8628385066986084,
+        0.0,
+        7.798781871795654
+      ],
+      "rotation": [
+        0.4958866496906737,
+        -0.49588660721455285,
+        0.5040798699532107,
+        0.5040797438419373
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_06.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_06",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_06",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        6.517930030822754
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.161296844482422,
+        0.0,
+        3.529075860977173
+      ],
+      "rotation": [
+        0.05059548026709245,
+        -0.05059552241394176,
+        0.7052944377164554,
+        0.7052942269822089
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_07.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_07",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_07",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        4.998073101043701
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        3.9893548488616943,
+        0.0,
+        4.490320682525635
+      ],
+      "rotation": [
+        0.01942366998394793,
+        -0.019423733204220067,
+        0.7068400272233808,
+        0.7068398797094122
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_08.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_08",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_08",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        5.851961612701416
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -0.12559565901756287,
+        0.0,
+        3.913203716278076
+      ],
+      "rotation": [
+        0.504638710708599,
+        -0.5046385842680549,
+        0.49531801889452026,
+        0.49531780816028015
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_09.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_09",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_09",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        -0.5162895917892456,
+        0.05,
+        3.8761439323425293
+      ],
+      "rotation": [
+        0.0007283607457566557,
+        -2.1114581646042987e-08,
+        0.9999997347452625,
+        1.6858738072222931e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.166500091552734,
+        0.0,
+        4.615927696228027
+      ],
+      "rotation": [
+        -0.005421370162856197,
+        0.005421328016007885,
+        0.7070861036544851,
+        0.7070858929202442
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_10.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_10",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_10",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        -0.5162895917892456,
+        0.05,
+        3.8761439323425293
+      ],
+      "rotation": [
+        0.0007283607457566557,
+        -2.1114581646042987e-08,
+        0.9999997347452625,
+        1.6858738072222931e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.166500091552734,
+        0.0,
+        4.615927696228027
+      ],
+      "rotation": [
+        -0.005421370162856197,
+        0.005421328016007885,
+        0.7070861036544851,
+        0.7070858929202442
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_11.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_11",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_11",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        0.8698642253875732,
+        0.05,
+        6.409993648529053
+      ],
+      "rotation": [
+        0.682846937184448,
+        -8.429369796614238e-08,
+        0.7305614692671726,
+        4.2146849066337915e-08
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.057492256164551,
+        0.0,
+        5.475180625915527
+      ],
+      "rotation": [
+        -0.014962278448531386,
+        0.014962236301683574,
+        0.7069485694394515,
+        0.7069483587052129
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_12.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_12",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_12",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        2.214672088623047,
+        0.05,
+        7.842538833618164
+      ],
+      "rotation": [
+        -0.028105096210571386,
+        -2.107342403183388e-08,
+        0.999604973760618,
+        1.6858739265712688e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        0.4110370874404907,
+        0.0,
+        3.930875062942505
+      ],
+      "rotation": [
+        0.5002641277111824,
+        -0.5002640012912272,
+        0.49973585919551156,
+        0.4997357327343972
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_13.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_13",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_13",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        5.1413798332214355
+      ],
+      "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": [
+        4.000844955444336,
+        0.0,
+        4.157668590545654
+      ],
+      "rotation": [
+        0.02275912956970169,
+        -0.02275925601024713,
+        0.7067404395748316,
+        0.7067403974279831
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_14.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_14",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_14",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        3.1754157543182373,
+        0.05,
+        7.024539470672607
+      ],
+      "rotation": [
+        -0.10044365367578684,
+        -4.2146848878987786e-08,
+        0.9949427483208331,
+        2.1073424427697773e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.030834674835205,
+        0.0,
+        4.4503703117370605
+      ],
+      "rotation": [
+        -0.04297985954636321,
+        0.04297977525266703,
+        0.7057994433868421,
+        0.7057992747994496
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_15.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_15",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_15",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        2.5774035453796387,
+        0.05,
+        7.77209997177124
+      ],
+      "rotation": [
+        0.0006191346490735951,
+        -3.6919651296275866e-08,
+        0.9999998083360921,
+        2.528810899016243e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.149369239807129,
+        0.0,
+        4.510265827178955
+      ],
+      "rotation": [
+        0.02215446968270738,
+        -0.022154469682707102,
+        0.7067596755959271,
+        0.7067595913022306
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_16.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_16",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_16",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        5.0045366287231445
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.2537763118743896,
+        0.0,
+        2.998124599456787
+      ],
+      "rotation": [
+        0.7070313336550451,
+        -0.7070311229208038,
+        -0.01033643023528779,
+        -0.010336472382136102
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_17.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_17",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_17",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        4.998073101043701
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        3.8941612243652344,
+        0.0,
+        7.525052547454834
+      ],
+      "rotation": [
+        0.48739746748891166,
+        -0.48739740426863926,
+        0.5122927255589647,
+        0.5122925358981479
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_18.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_18",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_18",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        -2.134284257888794,
+        0.05,
+        3.2950632572174072
+      ],
+      "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": [
+        -0.6521620750427246,
+        0.0,
+        -1.1566468477249146
+      ],
+      "rotation": [
+        -0.005421370162856197,
+        0.005421328016007885,
+        0.7070861036544851,
+        0.7070858929202442
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_19.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_19",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_19",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        1.131256341934204,
+        0.05,
+        7.161611557006836
+      ],
+      "rotation": [
+        0.39421315425204256,
+        -1.0536712222175558e-07,
+        0.9190190362634584,
+        1.6858739548819557e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -0.6931918859481812,
+        0.0,
+        -1.1757723093032837
+      ],
+      "rotation": [
+        -0.005421370162856197,
+        0.005421328016007885,
+        0.7070861036544851,
+        0.7070858929202442
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc1_staging_20.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc1_staging_20",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc1_staging_20",
+  "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,
+        -1.04
+      ],
+      "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,
+        0.87
+      ],
+      "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,
+        0.87
+      ],
+      "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": [
+        -0.5162895917892456,
+        0.05,
+        3.8761439323425293
+      ],
+      "rotation": [
+        0.0007283607457566557,
+        -2.1114581646042987e-08,
+        0.9999997347452625,
+        1.6858738072222931e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        4.166500091552734,
+        0.0,
+        4.615927696228027
+      ],
+      "rotation": [
+        -0.005421370162856197,
+        0.005421328016007885,
+        0.7070861036544851,
+        0.7070858929202442
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc2_staging_00.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc2_staging_00",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc2_staging_00",
+  "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": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-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
+    }
+  ]
+}

configs/scenes/Baked_sc2_staging_01.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc2_staging_01",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc2_staging_01",
+  "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": [
+        -2.1685709953308105,
+        0.05,
+        -1.4354398250579834
+      ],
+      "rotation": [
+        0.7076216912835112,
+        -1.2644054597776844e-07,
+        0.7065914958623769,
+        1.2644054597776844e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        0.6003028750419617,
+        0.0,
+        7.124131679534912
+      ],
+      "rotation": [
+        0.707086103491685,
+        -0.7070858927574379,
+        0.005421391396606948,
+        0.005421349249757524
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc2_staging_02.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc2_staging_02",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc2_staging_02",
+  "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": [
+        4.144515037536621,
+        0.05,
+        5.27656888961792
+      ],
+      "rotation": [
+        -0.7063417923895458,
+        6.322027229499484e-08,
+        0.707870943268548,
+        1.2644054508959004e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.3570826053619385,
+        0.0,
+        -1.997585415840149
+      ],
+      "rotation": [
+        0.707086103491685,
+        -0.7070858927574379,
+        0.005421391396606948,
+        0.005421349249757524
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc2_staging_03.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc2_staging_03",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc2_staging_03",
+  "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": [
+        -2.148047685623169,
+        0.05,
+        -1.4827545881271362
+      ],
+      "rotation": [
+        0.7117289396265241,
+        -2.528810904012246e-07,
+        0.7024542095382574,
+        1.4751396931744762e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        1.5915743112564087,
+        0.0,
+        4.303198337554932
+      ],
+      "rotation": [
+        0.48998651656626946,
+        -0.48998644215074055,
+        0.5098169681666264,
+        0.5098167897010661
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}

configs/scenes/Baked_sc2_staging_04.scene_instance.json

@@ -0,0 +1,132 @@
+{
+  "stage_instance": {
+    "template_name": "Baked_sc2_staging_04",
+    "translation": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "rotation": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "translation_origin": "COM"
+  },
+  "default_lighting": "no_lights",
+  "navmesh_instance": "Baked_sc2_staging_04",
+  "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": [
+        4.070737361907959,
+        0.05,
+        5.862549304962158
+      ],
+      "rotation": [
+        -0.7107808312269362,
+        1.2644054242505478e-07,
+        0.7034135412119301,
+        1.475139664308678e-07
+      ]
+    },
+    {
+      "template_name": "chestOfDrawers_01",
+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
+      "motion_type": "DYNAMIC",
+      "translation": [
+        -2.081207036972046,
+        0.0,
+        -1.162813425064087
+      ],
+      "rotation": [
+        0.7071057229118424,
+        -0.7071055753978819,
+        0.001265332602336309,
+        0.001265227235222134
+      ],
+      "uniform_scale": 0.4
+    }
+  ]
+}