littleTang's picture
Add files using upload-large-folder tool
d617d48 verified
Raw
History Blame Contribute Delete
11.2 kB
{
"Rigid": {
"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": "cat0_0",
"default_pos": [
0.35837577729538755,
-0.1243503767719047,
0.7845
],
"default_ori": [
0.940602919453023,
0.0,
0.0,
-0.33950868606922285
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.045,
"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": [
-0.0269709633394019,
-0.1685030201030371,
0.7802996016143068
],
"default_ori": [
0.962368623129216,
-0.00031785119428338963,
0.0007134214382768327,
-0.2717462478431794
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.12,
"friction": 0.45,
"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": [
-0.34877996873269707,
-0.1650306416418254,
0.7662885516514121
],
"default_ori": [
0.9363098252896537,
-0.005290628220055667,
0.0024100019261102715,
-0.35112691752386566
],
"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": [
0.24105025538272423,
-0.09607672246124875,
0.7662885516514121
],
"default_ori": [
0.99783521153136,
-0.005813650403869173,
1.8034087068612083e-05,
0.06550642542468244
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"type": "rigid"
},
"visual": {}
}
],
"watch": [
{
"category": "watch",
"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": [
0.15681612654643495,
-0.12442438691805655,
0.7785880424927307
],
"default_ori": [
0.7619778252590886,
0.16441813506090422,
0.6174733119736475,
-0.10527668154353484
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.045,
"friction": 0.25,
"type": "rigid"
},
"visual": {}
},
{
"category": "watch",
"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": "cat2_1",
"default_pos": [
0.24129514870187452,
-0.21640690349049485,
0.7767083305032167
],
"default_ori": [
0.7113553324884657,
-0.11485959325414753,
0.6909317807938126,
-0.05825924018391711
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.045,
"friction": 0.65,
"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"
}
}