{ "Rigid": { "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": "cat0_0", "default_pos": [ 0.18436586859286663, -0.08920893724449308, 0.7881997980244625 ], "default_ori": [ 0.934684950186957, -0.00018704321233504632, 7.081486510328566e-05, -0.35547714960894117 ], "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": "cat0_1", "default_pos": [ 0.23743068755919827, -0.15100992578815936, 0.7881997980244625 ], "default_ori": [ 0.9351010181808559, -0.00018691346871625977, -7.115661327428079e-05, 0.354381215356032 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.085, "friction": 0.32, "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_2", "default_pos": [ 0.017886630045254582, -0.15060402855805616, 0.7662885516514121 ], "default_ori": [ 0.883407897843662, -0.005310720233774609, -0.002365397819666191, 0.4685687646132588 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "type": "rigid" }, "visual": {} } ], "toy_car": [ { "category": "toy_car", "category_idx": 3, "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": [ -0.0922391762855827, -0.13570480144259658, 0.7833 ], "default_ori": [ 0.9674487279795967, 0.0, 0.0, -0.25306710321703324 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.35, "friction": 0.45, "type": "rigid" }, "visual": {} }, { "category": "toy_car", "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_1", "default_pos": [ -0.1988960055169956, -0.20793137650306873, 0.785292447548888 ], "default_ori": [ 0.9994471018636005, -0.0020853784131825794, 0.019163291240858908, -0.027090774114847643 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.45, "friction": 0.3, "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": [ 0.4052440441199116, -0.09391573308010587, 0.7725093813514188 ], "default_ori": [ 0.8709657727302598, 0.018360584994593376, -0.03201096378030525, 0.489955926435117 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.018, "friction": 0.32, "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": "cat2_1", "default_pos": [ 0.11301854118056094, -0.21063234230012734, 0.7725093813514188 ], "default_ori": [ 0.8930367270917674, 0.016835373610104287, -0.03283874356451394, 0.44846804923175587 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.018, "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" } }