| { |
| "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": [ |
| 0.19327180488175486, |
| -0.09355123830174078, |
| 0.7808752236133516 |
| ], |
| "default_ori": [ |
| 0.9905224631496725, |
| 0.015654994114553965, |
| 0.020252875529737174, |
| 0.1349444040631396 |
| ], |
| "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": [ |
| 0.3589681074853137, |
| -0.10430250093307619, |
| 0.7808752236133516 |
| ], |
| "default_ori": [ |
| 0.9670029912666914, |
| 0.022201807725964796, |
| 0.012741175049776066, |
| -0.25347575243664133 |
| ], |
| "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": [ |
| 0.1795319670924223, |
| -0.20621375588816124, |
| 0.7808752236133516 |
| ], |
| "default_ori": [ |
| 0.9277134673452927, |
| 0.02362086584621708, |
| 0.009864710062883838, |
| -0.37241437230352004 |
| ], |
| "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, |
| 0.014891802539826464, |
| 0.795 |
| ], |
| "default_ori": [ |
| 0.999376383699038, |
| 0.0, |
| 0.0, |
| 0.03531067408919371 |
| ], |
| "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" |
| } |
| } |
|
|
