littleTang's picture
Add files using upload-large-folder tool
010b40a verified
Raw
History Blame Contribute Delete
11.2 kB
{
"Rigid": {
"toy_car": [
{
"category": "toy_car",
"category_idx": 3,
"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": [
0.09187403304920083,
-0.1087528153443256,
0.7833
],
"default_ori": [
0.9527414378471033,
0.0,
0.0,
-0.3037824099730503
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.35,
"friction": 0.45,
"type": "rigid"
},
"visual": {}
},
{
"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_1",
"default_pos": [
-0.20394747845066302,
-0.16348544439631515,
0.7802996016143068
],
"default_ori": [
0.9959462918163029,
-0.0005517199230111364,
0.0005528152104030311,
0.08994650531191016
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.12,
"friction": 0.45,
"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": "cat1_0",
"default_pos": [
-0.31198443501590234,
-0.09466795138781309,
0.7731
],
"default_ori": [
0.6968929805536352,
0.6968929805536352,
0.11975046411213035,
0.11975046411213035
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.018,
"friction": 0.32,
"type": "rigid"
},
"visual": {}
},
{
"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_1",
"default_pos": [
0.2731584237265799,
-0.13891805910759822,
0.7719
],
"default_ori": [
0.6702805370094167,
0.22521989633770836,
0.6702805370094167,
-0.22521989633770836
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.008,
"friction": 0.3,
"type": "rigid"
},
"visual": {}
}
],
"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": "cat2_0",
"default_pos": [
-0.03234772783466522,
-0.15034590383967145,
0.7881997980244625
],
"default_ori": [
0.9996035353468876,
-0.00019991181061811345,
-5.930967509379185e-06,
0.02815549896726007
],
"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": "cat2_1",
"default_pos": [
0.15257765223593162,
-0.1849600496011435,
0.7662885516514121
],
"default_ori": [
0.9222619949637486,
-0.0055033534408805715,
-0.0018740216518099732,
0.38652168605298226
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"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"
}
}