{ "Rigid": { "watch": [ { "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_0", "default_pos": [ -0.09425736640280404, -0.19253705042574815, 0.7784623816759415 ], "default_ori": [ 0.7418439971140204, 0.10535413476032036, 0.6405597597175213, -0.1680808866749248 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.035, "friction": 0.75, "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": [ 0.15213678216731413, -0.19052732530032895, 0.7784623816759415 ], "default_ori": [ 0.7150998562720976, 0.18439515417430616, 0.6224264828857285, -0.2592602863516914 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.035, "friction": 0.75, "type": "rigid" }, "visual": {} } ], "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": "cat1_0", "default_pos": [ 0.3218592979217378, -0.12147153263465231, 0.765 ], "default_ori": [ 0.9283517121129852, 1.822715546539475e-05, 0.00022286250537888007, 0.37170290369724557 ], "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": "cat1_1", "default_pos": [ 0.0485952529934484, -0.11044082550379361, 0.7662885516514121 ], "default_ori": [ 0.9867255758332786, -0.005787815766894961, -0.0005477635394827803, 0.16229244942460566 ], "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": "cat1_2", "default_pos": [ 0.04256867165887339, -0.18440797658214692, 0.7662885516514121 ], "default_ori": [ 0.9960594714816252, -0.005812520556033828, -0.0001160216893033702, 0.08849706444565751 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "type": "rigid" }, "visual": {} } ], "toy_car": [ { "category": "toy_car", "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": [ -0.4196569984136326, -0.11858446459137678, 0.7863 ], "default_ori": [ 0.9674747734999339, 0.0, 0.0, 0.25296751301550907 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.35, "friction": 0.42, "type": "rigid" }, "visual": {} }, { "category": "toy_car", "category_idx": 4, "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": [ -0.22819978112974076, -0.22783759925400976, 0.7802996016143068 ], "default_ori": [ 0.9984006344731283, -0.000532889508719433, 0.0005709888806247658, 0.05652931172519795 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.12, "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" } }