{ "Rigid": { "garage": [ { "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_0", "default_pos": [ -0.04002426968776566, -0.13367578817254766, 0.793210592842227 ], "default_ori": [ -0.6498803044761233, 0.6679552866019206, -0.24848069777104145, 0.26409973076431525 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.25, "friction": 0.65, "type": "rigid" }, "visual": {} }, { "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_1", "default_pos": [ 0.373962325111818, -0.16172299179942978, 0.7944426144212695 ], "default_ori": [ 0.6538160484434766, -0.5951363701778122, 0.3272592181694975, -0.3335246314928255 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.04, "friction": 0.45, "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": [ -0.42988154962232217, -0.056371702314682436, 0.7719 ], "default_ori": [ 0.6723635552748203, 0.2189229305902052, 0.6723635552748203, -0.2189229305902052 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.008, "friction": 0.3, "type": "rigid" }, "visual": {} }, { "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_1", "default_pos": [ 0.08951087070298228, -0.22485809694159264, 0.7731 ], "default_ori": [ 0.689919896649495, 0.689919896649495, -0.15495333557929647, -0.15495333557929647 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.018, "friction": 0.32, "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": [ 0.26737952528364717, -0.09281642844295865, 0.7881997980244625 ], "default_ori": [ 0.8935126402120434, -0.0001788368370583018, 8.953934392875669e-05, -0.4490379959217207 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.085, "friction": 0.32, "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": [ 0.09208160798405329, -0.09404292472172823, 0.7881997980244625 ], "default_ori": [ 0.9999970814788418, -0.0001999982439888098, -7.815379723840565e-07, 0.00240770303200421 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.085, "friction": 0.32, "type": "rigid" }, "visual": {} }, { "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": "cat2_2", "default_pos": [ -0.1669579027393236, -0.19254077881412918, 0.765 ], "default_ori": [ 0.9878325714453245, 0.00012966883983884676, 0.00018217002353559307, -0.155520933612785 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.06, "friction": 0.45, "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" } }