{ "Rigid": { "test_tube": [ { "category": "test_tube", "category_idx": 2, "group": null, "xlim": [ [ -0.4, -0.15 ], [ 0.15, 0.4 ] ], "ylim": [ -0.25, -0.05 ], "zlim": null, "qpos": [ 1, 0, 0, 0 ], "rotate_deg": 60, "rotate_rand": true, "relative_plane": "Table", "place_tag": "side", "margin": 0.01, "check_mode": "bbox", "need_check_stable": true, "label": "tube0", "default_pos": [ -0.29279805834742845, -0.14575001417500538, 0.7808752236133516 ], "default_ori": [ 0.9255254152168126, 0.023678004261192535, 0.00972676319012107, -0.3778193324590431 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.06, "friction": 0.45, "type": "rigid" }, "visual": {} }, { "category": "test_tube", "category_idx": 2, "group": null, "xlim": [ [ -0.4, -0.15 ], [ 0.15, 0.4 ] ], "ylim": [ -0.25, -0.05 ], "zlim": null, "qpos": [ 1, 0, 0, 0 ], "rotate_deg": 60, "rotate_rand": true, "relative_plane": "Table", "place_tag": "side", "margin": 0.01, "check_mode": "bbox", "need_check_stable": true, "label": "tube1", "default_pos": [ 0.3311135387726703, -0.14134060275071114, 0.7808752236133516 ], "default_ori": [ 0.9916537384345524, 0.020368759812264863, 0.015503916655478057, -0.12636298999638607 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.06, "friction": 0.45, "type": "rigid" }, "visual": {} }, { "category": "test_tube", "category_idx": 2, "group": null, "xlim": [ [ -0.4, -0.15 ], [ 0.15, 0.4 ] ], "ylim": [ -0.25, -0.05 ], "zlim": null, "qpos": [ 1, 0, 0, 0 ], "rotate_deg": 60, "rotate_rand": true, "relative_plane": "Table", "place_tag": "side", "margin": 0.01, "check_mode": "bbox", "need_check_stable": true, "label": "tube2", "default_pos": [ -0.208904071870371, -0.21130405549309603, 0.7808752236133516 ], "default_ori": [ 0.9376032681220127, 0.02334067531275941, 0.010510503503357468, -0.34676339743255985 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "mass": 0.06, "friction": 0.45, "type": "rigid" }, "visual": {} } ] }, "Geometry": { "test_tube_slot": [ { "category": "test_tube_slot", "category_idx": 0, "group": null, "xlim": [ 0.0, 0.0 ], "ylim": [ -0.025, 0.025 ], "zlim": null, "qpos": [ 1, 0, 0, 0 ], "rotate_deg": 15, "rotate_rand": true, "relative_plane": "Table", "place_tag": null, "margin": 0.01, "check_mode": "bbox", "need_check_stable": true, "label": "slot", "default_pos": [ 0.0, -0.01657487843309332, 0.795 ], "default_ori": [ 0.9985274045035183, 0.0, 0.0, -0.05424963092470938 ], "scale": [ 1.0, 1.0, 1.0 ], "physics": { "size": [ 0.20499995824571268, 0.09599998956918919, 0.06 ], "mass": 0.0, "friction": 0.0, "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" } }