142 lines
4.4 KiB
JSON
142 lines
4.4 KiB
JSON
{
|
|
"actor_info_list":[
|
|
{
|
|
"actor_name": "apple",
|
|
"actor_file": "035_apple",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.25,-0.05],[0.05,0.25]],
|
|
"y_limit":[[-0.2,0.05]],
|
|
"z_limit":[[0.78]],
|
|
"qpose":[[1,0,0,0]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":true,
|
|
"rotate_tag": false,
|
|
"rotate_limit":[],
|
|
"convex":true,
|
|
"z_val_protect":true,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
}
|
|
],
|
|
"rand_create_actor":true,
|
|
"rand_actor_num":4,
|
|
"rand_choice_actor_list":[
|
|
{
|
|
"actor_name": "brush",
|
|
"actor_file": "024_brush",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.35,0.35]],
|
|
"y_limit":[[-0.15,0.3]],
|
|
"z_limit":[[0.8]],
|
|
"qpose":[[-0.5,0.5,0.5,0.5]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":false,
|
|
"rotate_tag": true,
|
|
"rotate_limit":[[1.57,0,0]],
|
|
"convex":false,
|
|
"z_val_protect":true,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
},
|
|
{
|
|
"actor_name": "cup",
|
|
"actor_file": "022_cup",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.35,0.35]],
|
|
"y_limit":[[0,0.3]],
|
|
"z_limit":[[0.8]],
|
|
"qpose":[[0.707,0.707,0,0]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":false,
|
|
"rotate_tag": false,
|
|
"rotate_limit":[],
|
|
"convex":false,
|
|
"z_val_protect":true,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
},
|
|
{
|
|
"actor_name": "coaster",
|
|
"actor_file": "019_coaster",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.35,0.35]],
|
|
"y_limit":[[-0.25,0.25]],
|
|
"z_limit":[[0.77]],
|
|
"qpose":[[0.707,0.707,0,0]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":false,
|
|
"rotate_tag": false,
|
|
"rotate_limit":[],
|
|
"convex":true,
|
|
"z_val_protect":true,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
},
|
|
{
|
|
"actor_name": "rack",
|
|
"actor_file": "040_rack",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.35,0.35]],
|
|
"y_limit":[[0,0.25]],
|
|
"z_limit":[[0.8]],
|
|
"qpose":[[-0.22, -0.22, 0.67, 0.67]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":false,
|
|
"rotate_tag": false,
|
|
"rotate_limit":[],
|
|
"convex":true,
|
|
"z_val_protect":false,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
},
|
|
{
|
|
"actor_name": "dustpan",
|
|
"actor_file": "028_dustpan",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.35,0.35]],
|
|
"y_limit":[[0,0.25]],
|
|
"z_limit":[[0.78]],
|
|
"qpose":[[0.5,0.5,0.5,0.5]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":false,
|
|
"rotate_tag": true,
|
|
"rotate_limit":[[0,1.57,0]],
|
|
"convex":false,
|
|
"z_val_protect":true,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
},
|
|
{
|
|
"actor_name": "hammer",
|
|
"actor_file": "020_hammer",
|
|
"actor_type": "glb",
|
|
"x_limit":[[-0.35,0.35]],
|
|
"y_limit":[[-0.15,0.3]],
|
|
"z_limit":[[0.78]],
|
|
"qpose":[[0.686,-0.057, -0.721, -0.079]],
|
|
"is_static_or_fix_root_link":false,
|
|
"ylim_prop":false,
|
|
"rotate_tag": true,
|
|
"rotate_limit":[[1.57,0,0]],
|
|
"convex":false,
|
|
"z_val_protect":true,
|
|
"actor_data_from":"file",
|
|
"rand_model_id": false,
|
|
"mass": 0.01
|
|
}
|
|
],
|
|
"actor_dis_lim_mat":[[0,0.2,0.2,0.2,0.2],
|
|
[0.2,0,0.2,0.2,0.2],
|
|
[0.2,0.2,0,0.2,0.2],
|
|
[0.2,0.2,0.2,0,0.2],
|
|
[0.2,0.2,0.2,0.2,0]],
|
|
"actor_position_link": false,
|
|
"actor_position_num":0,
|
|
"other_actor_data": []
|
|
} |