{ "Rigid": { "car": [ { "category": "car", "category_idx": 9, "group": null, "xlim": [ -0.4, 0.4 ], "ylim": [ -0.2, 0.05 ], "zlim": null, "qpos": [ 1, 0, 0, 0 ], "rotate_deg": 20, "rotate_rand": true, "relative_plane": "Table", "place_tag": null, "margin": 0.01, "check_mode": "bbox", "need_check_stable": true, "label": "target", "default_pos": [ 0.27120277065531173, -0.18010159588963456, 0.784499273523333 ], "default_ori": [ 0.9848692662599074, -0.0036953396084514175, -0.001379935667339876, -0.173254058017132 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.45, "friction": 0.45, "type": "rigid" }, "visual": {} } ], "box": [ { "category_idx": 3, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ -0.11829898115906283, 0.05142795279722214, 0.7649000404759948 ], "default_ori": [ 0.9673332471330512, -5.064357238045391e-05, 0.00019348184249832437, 0.253508084666017 ] } ], "pokeball": [ { "category_idx": 8, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ 0.36163756192685653, 0.015976153465436918, 0.8048623554934082 ], "default_ori": [ 0.9954750342346229, -0.06890343194672882, -0.005910373407019869, -0.06516778934204161 ] } ], "racket": [ { "category_idx": 3, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ -0.4298138849249061, -0.033005960845713556, 0.7653839543010679 ], "default_ori": [ 0.9990231293712697, -0.006667249737341196, -0.0008920389397732483, 0.04367538241052037 ] } ], "minecraft_blocks": [ { "category_idx": 7, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ 0.08274707742528271, -0.04553054679613246, 0.8049999792000057 ], "default_ori": [ 0.9738636097284884, -0.0004641974027430422, 0.00021099929167329654, -0.2271330219203468 ] } ], "eraser": [ { "category_idx": 0, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ -0.038289087492799814, -0.04793410862242019, 0.7722034910034408 ], "default_ori": [ 0.7041368710738151, -0.6941758173436015, -0.10348998933819971, 0.10770804759394627 ] } ], "ball": [ { "category_idx": 0, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ -0.2699408335683092, -0.00020403531643408717, 0.7647818013684299 ], "default_ori": [ 0.9917239344821469, 0.0009399393161318701, -0.0034082737140243074, 0.12833993127480944 ] } ], "keyboard": [ { "category_idx": 1, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ -0.2760216912677025, -0.19325636648689049, 0.765200479743693 ], "default_ori": [ 0.9905497886133067, -0.0007924398308906454, -0.00010972103179549315, 0.13715128974436644 ] } ], "garage": [ { "category_idx": 17, "physics": { "mass": 0.012, "friction": 0.45, "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ 0.19552474342732112, 0.032241887794712584, 0.8221863761395345 ], "default_ori": [ 0.9818355276470193, -0.0017021829006536443, -0.00039053203623925256, -0.18972597794767218 ] } ], "nvlink": [ { "category_idx": 0, "physics": { "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ -0.01804100550360113, -0.17785761602935277, 0.779 ], "default_ori": [ 0.9977113049554291, 0.0, 0.0, -0.0676176897278713 ] } ], "tissue": [ { "category_idx": 2, "physics": { "mass": 0.15, "friction": 0.45, "type": "rigid" }, "scale": [ 1.0, 1.0, 1.0 ], "type": "cluttered", "clutter_idx": 0, "yaml_path": "Clutter/clutter.yml", "relative_plane": "Table", "default_pos": [ 0.450156301810183, -0.12633828261238553, 0.7829072436546988 ], "default_ori": [ 0.9960421446289781, -0.004329112405273529, -0.005505123068380085, 0.08860586057756183 ] } ] }, "Geometry": { "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" } }