Skip to content

Commit d157088

Browse files
ruziniuuuuuruziniuuuuu
committed
add ioai test scenario (a init and rough version)
1 parent 2c2724c commit d157088

2 files changed

Lines changed: 522 additions & 0 deletions

File tree

‎assets/synthnova_assets/scenarios/ioai_test_scenario.json‎

Lines changed: 314 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,314 @@
1+
{
2+
"name": "ioai_test_scenario",
3+
"description": "Exported scenario from SynthNova Physics Simulator",
4+
"uuid": "088d7eed_a398_4f3b_a218_a55afd73b72e",
5+
"robots": [
6+
{
7+
"prim_path": "/World/Galbot",
8+
"name": "galbot_one_foxtrot",
9+
"uuid": "1561dafc_4ba2_492f_8cc2_7fb6d1fe35d9",
10+
"usd_path": null,
11+
"mjcf_path": "synthnova_assets/robots/galbot_one_foxtrot_description_simplified/galbot_one_foxtrot.xml",
12+
"urdf_path": null,
13+
"srdf_path": null,
14+
"position": [
15+
-0.5,
16+
-1.4,
17+
0.0
18+
],
19+
"orientation": [
20+
0.0,
21+
0.0,
22+
1.0,
23+
0.0
24+
],
25+
"translation": null,
26+
"rotation": null,
27+
"scale": [
28+
1.0,
29+
1.0,
30+
1.0
31+
],
32+
"interaction_type": "dynamic",
33+
"collision_type": "convex_decomposition",
34+
"semantic_label": null,
35+
"semantic_type": "class",
36+
"attributes": null
37+
}
38+
],
39+
"objects": [
40+
{
41+
"prim_path": "/World/Shelf",
42+
"type": "mesh",
43+
"name": "shelf",
44+
"uuid": "ad0cc8b4_4d59_4798_bc23_f9689bfdb14b",
45+
"usd_path": null,
46+
"obj_path": null,
47+
"mjcf_path": "synthnova_assets/objects_aigc/shelf/shelf.xml",
48+
"urdf_path": null,
49+
"position": [
50+
-0.8,
51+
-4.5,
52+
0.0
53+
],
54+
"orientation": [
55+
0.0,
56+
0.0,
57+
0.707,
58+
0.707
59+
],
60+
"translation": null,
61+
"rotation": null,
62+
"scale": [
63+
1.1312,
64+
1.1312,
65+
1.1312
66+
],
67+
"interaction_type": "dynamic",
68+
"semantic_label": null,
69+
"semantic_type": "class",
70+
"attributes": null,
71+
"collision_type": "convex_decomposition"
72+
},
73+
{
74+
"prim_path": "/World/Table",
75+
"type": "mesh",
76+
"name": "table",
77+
"uuid": "54ee2176_6705_4ea6_bcb7_0f5f0990339c",
78+
"usd_path": null,
79+
"obj_path": null,
80+
"mjcf_path": "synthnova_assets/objects_aigc/table/table.xml",
81+
"urdf_path": null,
82+
"position": [
83+
-4.4,
84+
-0.4,
85+
0.0
86+
],
87+
"orientation": [
88+
0.0,
89+
0.0,
90+
0.707,
91+
0.707
92+
],
93+
"translation": null,
94+
"rotation": null,
95+
"scale": [
96+
0.5747,
97+
0.5747,
98+
0.5747
99+
],
100+
"interaction_type": "dynamic",
101+
"semantic_label": null,
102+
"semantic_type": "class",
103+
"attributes": null,
104+
"collision_type": "convex_decomposition"
105+
},
106+
{
107+
"prim_path": "/World/Mug",
108+
"type": "mesh",
109+
"name": "mug",
110+
"uuid": "158db2d5_32c0_48d8_9798_f80570ee8f1c",
111+
"usd_path": null,
112+
"obj_path": null,
113+
"mjcf_path": "synthnova_assets/objects/mug/mug.xml",
114+
"urdf_path": null,
115+
"position": [
116+
-4.7,
117+
-0.4,
118+
0.45
119+
],
120+
"orientation": [
121+
0.0,
122+
0.0,
123+
-0.707,
124+
0.707
125+
],
126+
"translation": null,
127+
"rotation": null,
128+
"scale": [
129+
1.0,
130+
1.0,
131+
1.0
132+
],
133+
"interaction_type": "dynamic",
134+
"semantic_label": null,
135+
"semantic_type": "class",
136+
"attributes": null,
137+
"collision_type": "convex_decomposition"
138+
},
139+
{
140+
"prim_path": "/World/Power_drill",
141+
"type": "mesh",
142+
"name": "power_drill",
143+
"uuid": "ad48b526_cd11_4156_83f2_7c720fd22ae5",
144+
"usd_path": null,
145+
"obj_path": null,
146+
"mjcf_path": "synthnova_assets/objects/power_drill/power_drill.xml",
147+
"urdf_path": null,
148+
"position": [
149+
-4.2,
150+
-0.4,
151+
0.53
152+
],
153+
"orientation": [
154+
0.5,
155+
-0.5,
156+
-0.5,
157+
0.5
158+
],
159+
"translation": null,
160+
"rotation": null,
161+
"scale": [
162+
1.0,
163+
1.0,
164+
1.0
165+
],
166+
"interaction_type": "dynamic",
167+
"semantic_label": null,
168+
"semantic_type": "class",
169+
"attributes": null,
170+
"collision_type": "convex_decomposition"
171+
},
172+
{
173+
"prim_path": "/World/cone_1",
174+
"type": "mesh",
175+
"name": "cone_1",
176+
"uuid": "eb8b9fcd_908b_4bb9_bd51_7e61f94cee57",
177+
"usd_path": null,
178+
"obj_path": null,
179+
"mjcf_path": "synthnova_assets/objects_aigc/cone/cone.xml",
180+
"urdf_path": null,
181+
"position": [
182+
-4.5,
183+
-3.4,
184+
0.25
185+
],
186+
"orientation": [
187+
0.0,
188+
0.0,
189+
0.0,
190+
1.0
191+
],
192+
"translation": null,
193+
"rotation": null,
194+
"scale": [
195+
0.5,
196+
0.5,
197+
0.5
198+
],
199+
"interaction_type": "dynamic",
200+
"semantic_label": null,
201+
"semantic_type": "class",
202+
"attributes": null,
203+
"collision_type": "convex_decomposition"
204+
},
205+
{
206+
"prim_path": "/World/cone_2",
207+
"type": "mesh",
208+
"name": "cone_2",
209+
"uuid": "d70e82b0_3c24_43fe_801f_7f340dc991ff",
210+
"usd_path": null,
211+
"obj_path": null,
212+
"mjcf_path": "synthnova_assets/objects_aigc/cone/cone.xml",
213+
"urdf_path": null,
214+
"position": [
215+
-2.5,
216+
-2.5,
217+
0.25
218+
],
219+
"orientation": [
220+
0.0,
221+
0.0,
222+
0.0,
223+
1.0
224+
],
225+
"translation": null,
226+
"rotation": null,
227+
"scale": [
228+
0.5,
229+
0.5,
230+
0.5
231+
],
232+
"interaction_type": "dynamic",
233+
"semantic_label": null,
234+
"semantic_type": "class",
235+
"attributes": null,
236+
"collision_type": "convex_decomposition"
237+
},
238+
{
239+
"prim_path": "/World/cone_3",
240+
"type": "mesh",
241+
"name": "cone_3",
242+
"uuid": "e439652f_0622_48b8_91f1_449dbe4c9f69",
243+
"usd_path": null,
244+
"obj_path": null,
245+
"mjcf_path": "synthnova_assets/objects_aigc/cone/cone.xml",
246+
"urdf_path": null,
247+
"position": [
248+
-3.0,
249+
-0.7,
250+
0.25
251+
],
252+
"orientation": [
253+
0.0,
254+
0.0,
255+
0.0,
256+
1.0
257+
],
258+
"translation": null,
259+
"rotation": null,
260+
"scale": [
261+
0.5,
262+
0.5,
263+
0.5
264+
],
265+
"interaction_type": "dynamic",
266+
"semantic_label": null,
267+
"semantic_type": "class",
268+
"attributes": null,
269+
"collision_type": "convex_decomposition"
270+
},
271+
{
272+
"prim_path": "/World/bucket_1",
273+
"type": "mesh",
274+
"name": "bucket_1",
275+
"uuid": "89c6b02f_5471_4397_9dfc_8affbe3c0574",
276+
"usd_path": null,
277+
"obj_path": null,
278+
"mjcf_path": "synthnova_assets/objects_aigc/bucket/bucket.xml",
279+
"urdf_path": null,
280+
"position": [
281+
-2.2,
282+
-4.4,
283+
0.25
284+
],
285+
"orientation": [
286+
0.0,
287+
0.0,
288+
0.0,
289+
1.0
290+
],
291+
"translation": null,
292+
"rotation": null,
293+
"scale": [
294+
0.5,
295+
0.5,
296+
0.5
297+
],
298+
"interaction_type": "dynamic",
299+
"semantic_label": null,
300+
"semantic_type": "class",
301+
"attributes": null,
302+
"collision_type": "convex_decomposition"
303+
}
304+
],
305+
"sensors": [],
306+
"ground_planes": [
307+
{
308+
"static_friction": 0.5,
309+
"dynamic_friction": 0.5,
310+
"restitution": 0.8,
311+
"z_position": 0.0
312+
}
313+
]
314+
}

0 commit comments

Comments
 (0)