| { |
| "Rigid": { |
| "action_camera": [ |
| { |
| "category": "action_camera", |
| "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_0", |
| "default_pos": [ |
| 0.18364257139641244, |
| -0.17817028864062362, |
| 0.765 |
| ], |
| "default_ori": [ |
| 0.9908595916825907, |
| 0.0001258435733563564, |
| 0.00018483322359633936, |
| -0.13489707028206452 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.06, |
| "friction": 0.45, |
| "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": "cat0_1", |
| "default_pos": [ |
| -0.39988124766670613, |
| -0.16745514104705733, |
| 0.7662885516514121 |
| ], |
| "default_ori": [ |
| 0.9501407953653948, |
| -0.005386547253628028, |
| 0.0021872276815953487, |
| -0.3117670125689511 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "watch": [ |
| { |
| "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": "cat1_0", |
| "default_pos": [ |
| 0.3284036809907799, |
| -0.10875925076650884, |
| 0.7767083305032167 |
| ], |
| "default_ori": [ |
| 0.7136999852557685, |
| -0.1777856396879437, |
| 0.6774745147931145, |
| 0.00727180668739233 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.65, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "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": "cat1_1", |
| "default_pos": [ |
| -0.007795251706248837, |
| -0.11309707673876014, |
| 0.7785880424927307 |
| ], |
| "default_ori": [ |
| 0.7638727958009681, |
| 0.1524356026082255, |
| 0.6205400883054037, |
| -0.09050821895607744 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.25, |
| "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": [ |
| -0.14782015823150105, |
| -0.12914582298203722, |
| 0.7731 |
| ], |
| "default_ori": [ |
| 0.6280988529232108, |
| 0.6280988529232108, |
| -0.32479505993248564, |
| -0.32479505993248564 |
| ], |
| "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": "cat2_1", |
| "default_pos": [ |
| 0.1283658968643411, |
| -0.12342191869043054, |
| 0.772 |
| ], |
| "default_ori": [ |
| -0.5797896229856007, |
| 0.5797896229856007, |
| -0.40477647298010666, |
| 0.40477647298010666 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.008, |
| "friction": 0.3, |
| "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" |
| } |
| } |
|
|