Merge visfly-beta dataset changes

- Merged remote changes including new object types (ball, human, cup models)
- Added comprehensive pillar arrangements and FOV drone models
- Resolved conflicts by keeping local pillar scene configurations
- Updated dataset with both local and remote improvements

configs/agents/DJI_Mavic_orange_FOV.object_config.json

@@ -0,0 +1,13 @@
+{
+  "render_asset": "../../agents/DJI_Mavic_orange_FOV.glb",
+  "collision_asset": "../../agents/DJI_Mavic_orange_FOV.glb",
+  "COM": [
+    0,
+    0,
+    -0.1
+  ],
+  "mass": 11,
+  "join_collision_meshes": true,
+  "scale":[1.0,1.0,1.0],
+  "semantic_id": 6
+}

configs/agents/DJI_Mavic_red_FOV.object_config.json

@@ -0,0 +1,13 @@
+{
+  "render_asset": "../../agents/DJI_Mavic_red_FOV.glb",
+  "collision_asset": "../../agents/DJI_Mavic_red_FOV.glb",
+  "COM": [
+    0,
+    0,
+    -0.1
+  ],
+  "mass": 11,
+  "join_collision_meshes": true,
+  "scale":[1.0,1.0,1.0],
+  "semantic_id": 6
+}

configs/lighting/box15_0.lighting_config.json

@@ -3,9 +3,9 @@
     "0": {
       "type": "point",
       "position": [
-        15,
-        7,
-        0
+        15.0,
+        7.0,
+        0.0
       ],
       "intensity": 20.5,
       "color": [
@@ -17,8 +17,8 @@
     "1": {
       "type": "point",
       "position": [
-        15,
-        7,
+        15.0,
+        7.0,
         -7.5
       ],
       "intensity": 20.5,
@@ -31,9 +31,9 @@
     "2": {
       "type": "point",
       "position": [
-        15,
-        7,
-        -15
+        15.0,
+        7.0,
+        -15.0
       ],
       "intensity": 20.5,
       "color": [
@@ -45,8 +45,8 @@
     "3": {
       "type": "point",
       "position": [
-        15,
-        7,
+        15.0,
+        7.0,
         -22.5
       ],
       "intensity": 20.5,
@@ -60,8 +60,8 @@
       "type": "point",
       "position": [
         7.5,
-        7,
-        0
+        7.0,
+        0.0
       ],
       "intensity": 20.5,
       "color": [
@@ -74,7 +74,7 @@
       "type": "point",
       "position": [
         7.5,
-        7,
+        7.0,
         -7.5
       ],
       "intensity": 20.5,
@@ -88,8 +88,8 @@
       "type": "point",
       "position": [
         7.5,
-        7,
-        -15
+        7.0,
+        -15.0
       ],
       "intensity": 20.5,
       "color": [
@@ -102,7 +102,7 @@
       "type": "point",
       "position": [
         7.5,
-        7,
+        7.0,
         -22.5
       ],
       "intensity": 20.5,
@@ -115,9 +115,9 @@
     "8": {
       "type": "point",
       "position": [
-        0,
-        7,
-        0
+        0.0,
+        7.0,
+        0.0
       ],
       "intensity": 20.5,
       "color": [
@@ -129,8 +129,8 @@
     "9": {
       "type": "point",
       "position": [
-        0,
-        7,
+        0.0,
+        7.0,
         -7.5
       ],
       "intensity": 20.5,
@@ -143,9 +143,9 @@
     "10": {
       "type": "point",
       "position": [
-        0,
-        7,
-        -15
+        0.0,
+        7.0,
+        -15.0
       ],
       "intensity": 20.5,
       "color": [
@@ -157,8 +157,8 @@
     "11": {
       "type": "point",
       "position": [
-        0,
-        7,
+        0.0,
+        7.0,
         -22.5
       ],
       "intensity": 20.5,
@@ -172,8 +172,8 @@
       "type": "point",
       "position": [
         -7.5,
-        7,
-        0
+        7.0,
+        0.0
       ],
       "intensity": 20.5,
       "color": [
@@ -186,7 +186,7 @@
       "type": "point",
       "position": [
         -7.5,
-        7,
+        7.0,
         -7.5
       ],
       "intensity": 20.5,
@@ -200,8 +200,8 @@
       "type": "point",
       "position": [
         -7.5,
-        7,
-        -15
+        7.0,
+        -15.0
       ],
       "intensity": 20.5,
       "color": [
@@ -214,7 +214,7 @@
       "type": "point",
       "position": [
         -7.5,
-        7,
+        7.0,
         -22.5
       ],
       "intensity": 20.5,
@@ -223,6 +223,132 @@
         0.98,
         1.0
       ]
+    },
+    "16": {
+      "type": "point",
+      "position": [
+        15.0,
+        7.0,
+        -30.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "17": {
+      "type": "point",
+      "position": [
+        7.5,
+        7.0,
+        -30.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "18": {
+      "type": "point",
+      "position": [
+        0.0,
+        7.0,
+        -30.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "19": {
+      "type": "point",
+      "position": [
+        -7.5,
+        7.0,
+        -30.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "20": {
+      "type": "point",
+      "position": [
+        -15.0,
+        7.0,
+        0.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "21": {
+      "type": "point",
+      "position": [
+        -15.0,
+        7.0,
+        -7.5
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "22": {
+      "type": "point",
+      "position": [
+        -15.0,
+        7.0,
+        -15.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "23": {
+      "type": "point",
+      "position": [
+        -15.0,
+        7.0,
+        -22.5
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
+    },
+    "24": {
+      "type": "point",
+      "position": [
+        -15.0,
+        7.0,
+        -30.0
+      ],
+      "intensity": 20.5,
+      "color": [
+        0.93,
+        0.98,
+        1.0
+      ]
     }
   }
 }

configs/objects/ball/ball_1.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../../objects/ball_R0.3.glb",
+  "collision_asset": "../../../objects/ball_R0.3.glb",
+  "mass": 0.5,
+  "COM": [
+    0,
+    0.0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 2
+}

configs/objects/cup/frl_apartment_cup_01.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../../objects/frl_apartment_cup_01.glb",
+  "collision_asset": "../../../objects/convex/frl_apartment_cup_01_cv_decomp.glb",
+  "mass": 0.5,
+  "COM": [
+    0,
+    -0.16,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 8
+}

configs/objects/human/man_1.object_config.json

@@ -0,0 +1,12 @@
+{
+  "render_asset": "../../../objects/man_1.glb",
+  "collision_asset": "../../../objects/man_1.glb",
+  "mass": 0.5,
+  "COM": [
+    0,
+    1.0,
+    0
+  ],
+  "join_collision_meshes": false,
+  "semantic_id": 7
+}

configs/objects/objects2/frl_apartment_beanbag.object_config.json

@@ -8,5 +8,5 @@
   ],
   "mass": 11,
   "join_collision_meshes": true,
-  "semantic_id": 6
+  "semantic_id": 5
 }

configs/scenes/{box10_empty → box10_wall_empty}/box10_empty_0.scene_instance.json

@@ -5,21 +5,5 @@
     "default_lighting": "lighting/box10_0",
     "object_instances": [],
     "articulated_object_instances": [],
-    "user_custom": {
-        "range": [
-            [
-                -7,
-                7
-            ],
-            [
-                0,
-                5.5
-            ],
-            [
-                -18,
-                1
-            ]
-        ]
-    },
     "navmesh_instance": "empty_stage_navmesh"
 }

configs/scenes/pillar/box15_wall_pillar_0.scene_instance.json

@@ -0,0 +1,126 @@
+{
+    "stage_instance": {
+        "template_name": "stages/box15_wall"
+    },
+    "default_lighting": "lighting/box15_0",
+    "object_instances": [
+        {
+            "template_name": "round_pillar",
+            "translation": [
+                -6.950661353636349,
+                0.0,
+                -3.086458322056223
+            ],
+            "rotation": [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            "uniform_scale": 1.0,
+            "motion_type": "STATIC",
+            "translation_origin": "COM"
+        },
+        {
+            "template_name": "round_pillar",
+            "translation": [
+                11.239603022230956,
+                0.0,
+                -3.9489997732684503
+            ],
+            "rotation": [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            "uniform_scale": 1.0,
+            "motion_type": "STATIC",
+            "translation_origin": "COM"
+        },
+        {
+            "template_name": "round_pillar",
+            "translation": [
+                -2.583993777149587,
+                0.0,
+                -4.656348650684656
+            ],
+            "rotation": [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            "uniform_scale": 1.0,
+            "motion_type": "STATIC",
+            "translation_origin": "COM"
+        },
+        {
+            "template_name": "round_pillar",
+            "translation": [
+                2.5996713858747498,
+                0.0,
+                -4.120998216816598
+            ],
+            "rotation": [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            "uniform_scale": 1.0,
+            "motion_type": "STATIC",
+            "translation_origin": "COM"
+        },
+        {
+            "template_name": "round_pillar",
+            "translation": [
+                -13.875168015280721,
+                0.0,
+                -4.939869318195937
+            ],
+            "rotation": [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            "uniform_scale": 1.0,
+            "motion_type": "STATIC",
+            "translation_origin": "COM"
+        },
+        {
+            "template_name": "square_pillar",
+            "translation": [
+                6.3214120224274435,
+                0.0,
+                -3.630412396111065
+            ],
+            "rotation": [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            "uniform_scale": 1.0,
+            "motion_type": "STATIC",
+            "translation_origin": "COM"
+        }
+    ],
+    "articulated_object_instances": [],
+    "user_custom": {
+        "bound": [
+            [
+                0,
+                -15,
+                0
+            ],
+            [
+                30,
+                15,
+                8.0
+            ]
+        ]
+    },
+    "navmesh_instance": "empty_stage_navmesh"
+}

objects/ball_R0.3.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a638212c2506e9bc342c3724737cab3f2e1fb8d7b73df85451dbd61c3165215
+size 20424

objects/man_1.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c79b78f3921ef5bafe754721d7be4c8fca12f5daa7ad1d250c102672e339b080
+size 2894120

self_define_objects/ball_R0.3.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a638212c2506e9bc342c3724737cab3f2e1fb8d7b73df85451dbd61c3165215
+size 20424

self_define_stages/box10_wall.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc9423ac40ffbc9d2e847b2e31e509425ee2f3af54f5d8f2adc9c1fd32c72fed
+oid sha256:38c671306b332aedf2a32ba4e459bfa774f674bfbf041344d037afe78228b30f
 size 4996

self_define_stages/box15_wall.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22a4c8c2534eb1de49e3da41d7a95f672720b63a9b6d42dd6dbf31c0359a7cbb
-size 4996
+oid sha256:4dad2293fc2c49abb5cd856a906da157a6c7a9fa510a3423df7fed884dc58b5b
+size 171676

visfly-beta.scene_dataset_config.json

@@ -13,7 +13,10 @@
                 "configs/objects/objects2",
                 "configs/agents",
                 "configs/objects/pillar",
-                "configs/objects/test"
+                "configs/objects/test",
+                "configs/objects/human",
+                "configs/objects/cup",
+                "configs/objects/ball"
             ]
         }
     },
@@ -48,6 +51,7 @@
                 "configs/scenes/garage_pillar",
                 "configs/scenes/garage",
                 "configs/scenes/box10_wall_pillar",
+                "configs/scenes/box10_wall_empty",
                 "configs/scenes/box15_wall_pillar",
                 "configs/scenes/garage_garage",
                 "configs/scenes/box15_wall_random_objects",