{ "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": [ 0.04336410987480832, -0.15237227618363916, 0.7785880424927307 ], "default_ori": [ 0.7328737259737467, 0.2672831617269717, 0.5804018656016231, -0.2336439334559034 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.045, "friction": 0.25, "type": "rigid" }, "visual": {} }, { "category": "watch", "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": "cat0_1", "default_pos": [ 0.26026841157096464, -0.18599896202146016, 0.7784623816759415 ], "default_ori": [ 0.7588444938765494, -0.08328650278928842, 0.6438009458936778, 0.05233292111834985 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.035, "friction": 0.75, "type": "rigid" }, "visual": {} } ], "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": "cat1_0", "default_pos": [ -0.30508594503725206, -0.1169747093750651, 0.7845 ], "default_ori": [ 0.9989631905714794, 0.0, 0.0, 0.045525200529488115 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.045, "friction": 0.45, "type": "rigid" }, "visual": {} }, { "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": "cat1_1", "default_pos": [ -0.1340274007623331, -0.11963933733845906, 0.7845 ], "default_ori": [ 0.9563151913779604, 0.0, 0.0, 0.2923375698396204 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.045, "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": "cat2_0", "default_pos": [ 0.1632836503964495, -0.12418163541555767, 0.7662885516514121 ], "default_ori": [ 0.8751178800817545, -0.005268742159309084, -0.002457480886074938, 0.4838748775303066 ], "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": [ 0.4275178799797806, -0.14858777017216535, 0.7662885516514121 ], "default_ori": [ 0.9709849353779163, -0.005727140746621606, -0.0009993573510467231, 0.23906998224975268 ], "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_2", "default_pos": [ -0.25441722170290487, -0.19859332720059578, 0.7881997980244625 ], "default_ori": [ 0.8854394039460823, -0.00017722690846796774, 9.268511916751446e-05, -0.46475479765108213 ], "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" } }