littleTang's picture
Add files using upload-large-folder tool
30e5acb verified
Raw
History Blame Contribute Delete
11.3 kB
{
"Rigid": {
"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": "cat0_0",
"default_pos": [
0.02894683378411556,
-0.20320630786391544,
0.7785880424927307
],
"default_ori": [
0.7586557952312084,
-0.027435112308114767,
0.6383995055991603,
0.12702271539174337
],
"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": "cat0_1",
"default_pos": [
0.37292003017180986,
-0.13244714171776173,
0.7767083305032167
],
"default_ori": [
0.7091270972952916,
-0.24684671084530999,
0.6554739912599653,
0.08098955493232991
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.045,
"friction": 0.65,
"type": "rigid"
},
"visual": {}
}
],
"pen": [
{
"category": "pen",
"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": "cat1_0",
"default_pos": [
-0.1110285741167194,
-0.21568174372972945,
0.765900020095998
],
"default_ori": [
0.922525090318654,
-9.226407884119843e-05,
-3.856603111010021e-05,
0.38593710333752573
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.03,
"friction": 0.32,
"type": "rigid"
},
"visual": {}
},
{
"category": "pen",
"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": "cat1_1",
"default_pos": [
-0.23222972101243478,
-0.09578443679658608,
0.765900020095998
],
"default_ori": [
0.9954206905831156,
-9.953919236986614e-05,
9.588961484690607e-06,
-0.09559099726979646
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.03,
"friction": 0.32,
"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": [
0.11670099894841184,
-0.22305497554411083,
0.7662885516514121
],
"default_ori": [
0.9234468743871537,
-0.005203037709255608,
0.0025936952100755347,
-0.38368225307974557
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"type": "rigid"
},
"visual": {}
},
{
"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_1",
"default_pos": [
0.23562115563978214,
-0.11434402364340193,
0.7881997980244625
],
"default_ori": [
0.9946693127016675,
-0.00019890248019678656,
-2.0921562364620398e-05,
0.1031160432216261
],
"scale": [
1.0,
1.0,
1.0
],
"physics": {
"mass": 0.085,
"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"
}
}