| { |
| "Rigid": { |
| "garage": [ |
| { |
| "category": "garage", |
| "category_idx": 15, |
| "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": [ |
| 0.16460707462353616, |
| -0.211947068979214, |
| 0.7944426144212695 |
| ], |
| "default_ori": [ |
| 0.7000687508463882, |
| -0.64116248584812, |
| 0.2240458920096329, |
| -0.2204945557220068 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.04, |
| "friction": 0.45, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "garage", |
| "category_idx": 14, |
| "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": [ |
| -0.21877920943288617, |
| -0.2185185055097267, |
| 0.793210592842227 |
| ], |
| "default_ori": [ |
| -0.6930991214808042, |
| 0.7005525278374267, |
| 0.1308933833500725, |
| -0.10819743868641225 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.25, |
| "friction": 0.65, |
| "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": [ |
| 0.42109467588875654, |
| -0.0662311932593733, |
| 0.7719 |
| ], |
| "default_ori": [ |
| 0.703989056239749, |
| -0.06632803852570687, |
| 0.703989056239749, |
| 0.06632803852570687 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.008, |
| "friction": 0.3, |
| "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": [ |
| -0.030289366109442006, |
| -0.14993594885191602, |
| 0.7719 |
| ], |
| "default_ori": [ |
| 0.7062928854176953, |
| -0.033916957533751665, |
| 0.7062928854176953, |
| 0.033916957533751665 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.008, |
| "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": "cat2_0", |
| "default_pos": [ |
| 0.10517486741579256, |
| -0.09686117760334774, |
| 0.7662885516514121 |
| ], |
| "default_ori": [ |
| 0.9781708859365543, |
| -0.005756316514487097, |
| -0.000814663385545052, |
| 0.2077207718304787 |
| ], |
| "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": "cat2_1", |
| "default_pos": [ |
| -0.15900698331239932, |
| -0.09943979992253303, |
| 0.7662885516514121 |
| ], |
| "default_ori": [ |
| 0.9633150904962839, |
| -0.00569431710893762, |
| -0.0011720106268993042, |
| 0.2683099654613846 |
| ], |
| "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" |
| } |
| } |
|
|
