| { |
| "Rigid": { |
| "action_camera": [ |
| { |
| "category": "action_camera", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat0_0", |
| "default_pos": [ |
| 0.40660423748371555, |
| -0.14219756889846819, |
| 0.7881997980244625 |
| ], |
| "default_ori": [ |
| 0.9648278683624217, |
| -0.00019304400403674312, |
| 5.22869095058379e-05, |
| -0.2628823775594651 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.085, |
| "friction": 0.32, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "action_camera", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat0_1", |
| "default_pos": [ |
| 0.19093565291429776, |
| -0.2063161675663078, |
| 0.7662885516514121 |
| ], |
| "default_ori": [ |
| 0.9951794412034477, |
| -0.005811165906615269, |
| -0.00017090070946884867, |
| 0.09789831944291462 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "pen": [ |
| { |
| "category": "pen", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat1_0", |
| "default_pos": [ |
| -0.016661680601200747, |
| -0.16043211129293056, |
| 0.772 |
| ], |
| "default_ori": [ |
| -0.4771283202577526, |
| 0.4771283202577526, |
| -0.5218702578304454, |
| 0.5218702578304454 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.008, |
| "friction": 0.3, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "pen", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat1_1", |
| "default_pos": [ |
| -0.08315483044361674, |
| -0.0776448816451148, |
| 0.7731 |
| ], |
| "default_ori": [ |
| 0.7064199884502845, |
| 0.7064199884502845, |
| 0.031157662266285687, |
| 0.031157662266285687 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.018, |
| "friction": 0.32, |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "toy_car": [ |
| { |
| "category": "toy_car", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat2_0", |
| "default_pos": [ |
| -0.2680974973428714, |
| -0.16742636132259006, |
| 0.7845 |
| ], |
| "default_ori": [ |
| 0.9988216323412127, |
| 0.0, |
| 0.0, |
| -0.04853191493476596 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.45, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "toy_car", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat2_1", |
| "default_pos": [ |
| 0.2875223787777191, |
| -0.15983151877646135, |
| 0.7845 |
| ], |
| "default_ori": [ |
| 0.9288810135232994, |
| 0.0, |
| 0.0, |
| -0.37037826976744737 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.45, |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ] |
| }, |
| "Geometry": { |
| "basket": [ |
| { |
| "category": "basket", |
| "category_idx": 2, |
| "group": null, |
| "xlim": [ |
| -0.28, |
| -0.28 |
| ], |
| "ylim": [ |
| 0.05, |
| 0.05 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "basket0", |
| "default_pos": [ |
| -0.28, |
| 0.05, |
| 0.8036 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 1.8, |
| "friction": 0.45, |
| "type": "geometry" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "basket", |
| "category_idx": 3, |
| "group": null, |
| "xlim": [ |
| -0.0, |
| 0.0 |
| ], |
| "ylim": [ |
| 0.05, |
| 0.05 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "basket1", |
| "default_pos": [ |
| 0.0, |
| 0.05, |
| 0.8036 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 1.2, |
| "friction": 0.45, |
| "type": "geometry" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "basket", |
| "category_idx": 4, |
| "group": null, |
| "xlim": [ |
| 0.28, |
| 0.28 |
| ], |
| "ylim": [ |
| 0.05, |
| 0.05 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "basket2", |
| "default_pos": [ |
| 0.28, |
| 0.05, |
| 0.8036 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 1.2, |
| "friction": 0.45, |
| "type": "geometry" |
| }, |
| "visual": {} |
| } |
| ], |
| "camera_stand": [ |
| { |
| "category": "camera_stand", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| 0.0, |
| 0.0 |
| ], |
| "ylim": [ |
| -0.47, |
| -0.47 |
| ], |
| "zlim": [ |
| 0.715, |
| 0.715 |
| ], |
| "qpos": [ |
| 0.707, |
| -0.707, |
| 0.0, |
| 0.0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Ground", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "camera_stand", |
| "default_pos": [ |
| 0.0, |
| -0.47, |
| 0.765 |
| ], |
| "default_ori": [ |
| 0.707, |
| -0.707, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "type": "geometry" |
| }, |
| "visual": {} |
| } |
| ] |
| }, |
| "Room": { |
| "default": "Simple_Room_nolight", |
| "default_pos": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "default_rot": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 0.5, |
| 0.5, |
| 0.5 |
| ] |
| }, |
| "Table": { |
| "default": "material_0122", |
| "scale": [ |
| 1.4, |
| 1.1, |
| 0.05 |
| ], |
| "default_pos": [ |
| 0.0, |
| -0.05, |
| 0.74 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "Ground": { |
| "geometry": "cube", |
| "thickness": 0.1, |
| "axis": "Z", |
| "default_pos": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "materials": { |
| "type": "mdl", |
| "default": "material_0564", |
| "random": false |
| }, |
| "physics_material": { |
| "static_friction": 1.0, |
| "dynamic_friction": 1.0, |
| "restitution": 0.0, |
| "friction_combine_mode": "multiply", |
| "restitution_combine_mode": "multiply", |
| "compliant_contact_stiffness": 0.0, |
| "compliant_contact_damping": 0.0 |
| } |
| }, |
| "Background": { |
| "intensity": 1000, |
| "category_name": "brown_photostudio_02_4k.hdr" |
| } |
| } |
|
|
