| { |
| "Rigid": { |
| "toy_car": [ |
| { |
| "category": "toy_car", |
| "category_idx": 4, |
| "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": [ |
| -0.1692606536886953, |
| -0.20190108576282279, |
| 0.7802996016143068 |
| ], |
| "default_ori": [ |
| 0.8780968613644954, |
| -0.00015165259884788483, |
| 0.000766159917747623, |
| -0.478482279778773 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.12, |
| "friction": 0.45, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "toy_car", |
| "category_idx": 2, |
| "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": [ |
| -0.24544790023714222, |
| -0.10809521214029383, |
| 0.785292447548888 |
| ], |
| "default_ori": [ |
| 0.9854786311172029, |
| -0.005789283404902656, |
| 0.01838653670395451, |
| 0.1687017696322595 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.45, |
| "friction": 0.3, |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "action_camera": [ |
| { |
| "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": "cat1_0", |
| "default_pos": [ |
| -0.029560803718261707, |
| -0.12162938829003041, |
| 0.7662885516514121 |
| ], |
| "default_ori": [ |
| 0.9763848920620588, |
| -0.005576976754867871, |
| 0.0016420068581976242, |
| -0.21596005115927144 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "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": "cat1_1", |
| "default_pos": [ |
| 0.1526283289683515, |
| -0.12101250793575163, |
| 0.7662885516514121 |
| ], |
| "default_ori": [ |
| 0.9649846516867818, |
| -0.005492395392591467, |
| 0.001905898501532711, |
| -0.2622419172304339 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "pen": [ |
| { |
| "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": "cat2_0", |
| "default_pos": [ |
| 0.4157512670931816, |
| -0.07684835018517444, |
| 0.7731 |
| ], |
| "default_ori": [ |
| 0.6942040701279114, |
| 0.6942040701279114, |
| 0.13446452698701591, |
| 0.13446452698701591 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.018, |
| "friction": 0.32, |
| "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": "cat2_1", |
| "default_pos": [ |
| 0.0010319799495185496, |
| -0.22746558592151186, |
| 0.7725093813514188 |
| ], |
| "default_ori": [ |
| 0.998747264830928, |
| -0.0009404141980612753, |
| -0.03689076448955466, |
| -0.033794794114664406 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.018, |
| "friction": 0.32, |
| "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" |
| } |
| } |
|
|
