{ "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": [ -0.3545419428183566, -0.1809864862754306, 0.793210592842227 ], "default_ori": [ -0.7011805101017715, 0.7114050556755681, 0.04254137778069062, -0.020951615431321756 ], "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": [ 0.2744370399939335, -0.135384980582667, 0.7944426144212695 ], "default_ori": [ 0.7333127691785781, -0.6791367840769884, -0.007689180638958381, 0.031088383269525975 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.04, "friction": 0.45, "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_2", "default_pos": [ 0.07018656783059038, -0.16623286442023322, 0.7944426144212695 ], "default_ori": [ 0.7017130206741367, -0.6551988334961742, -0.17888651030914898, 0.21520441824239175 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.04, "friction": 0.45, "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": "cat1_0", "default_pos": [ -0.0427859217110127, -0.22282723499370774, 0.7785880424927307 ], "default_ori": [ 0.7487107341387156, 0.22172308944364658, 0.5992874817182283, -0.17642455171787932 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.045, "friction": 0.25, "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": [ 0.3797412960288796, -0.11877209526534246, 0.7785880424927307 ], "default_ori": [ 0.7379284989123724, 0.2542015023349244, 0.5862492732168446, -0.21715182789081428 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.045, "friction": 0.25, "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": [ -0.25533597774700134, -0.13129488002766704, 0.7662885516514121 ], "default_ori": [ 0.9455068946833752, -0.005613857835002183, -0.001511111000254189, 0.32555017009664466 ], "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": [ -0.15552991191757815, -0.17954671585054777, 0.7881997980244625 ], "default_ori": [ 0.9168845961383547, -0.00018349625206567306, 7.95552253347368e-05, -0.39915234856417653 ], "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" } }