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Copy pathOAISYS_default_cfg.json
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OAISYS_default_cfg.json
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{
"SIMULATION_SETUP": {
"outputPath":"",
"defaultCfg": "",
"numBatches":2,
"numSamplesPerBatch":3,
"renderImages": true,
"saveBlenderFiles": true,
"outputIDOffset":0
},
"RENDER_SETUP": {
"GENERAL": {
"renderEngine":"CYCLES",
"renderFeatureSet":"EXPERIMENTAL",
"renderDevice": "GPU",
"performanceTilesX": 256,
"performanceTilesY": 256
},
"RENDER_PASSES": [{
"type": "RGBDPass",
"passParams": {
"numIter": 1,
"renderDepthActive": true,
"renderSamples":128,
"lightPathesMaxBounces": 6
}
},
{
"type": "SemanticPass",
"passParams": {
"numIter": 2,
"renderSamples":1
}
},
{
"type": "InstancePass",
"passParams": {
"numIter": 1,
"renderSamples":1
}
}]
},
"RENDER_POST_PROCESSING_EFFECTS_SETUP": {
"GENERAL": {
"renderPasses": ["combined"]
},
"POST_EFFECTS": [{
"type": "BloomEffect",
"effectParams": {
"quality": "HIGH",
"threshold": 0.8
}
}
]
},
"SENSOR_SETUP": {
"GENERAL": {
"baseMovement": { "movementType": "randomEuclideanTarget",
"hoverBaseModeEnabled": true,
"hoverBaseStage":"landscape01",
"hoverBaseDistance":1.5,
"hoverBaseDistanceNoise": 0.5
},
"sensorMovementType":"randomEuclideanTarget",
"hoverBaseModeEnabled": true,
"hoverBaseStage":"landscape01",
"hoverBaseDistance":1.5,
"hoverBaseDistanceNoise": 0.5,
"hoverTargetModeEnabled": true,
"hoverTargetStage":"landscape01",
"hoverTargetDistance":0.0,
"positionOffsetEnabled":true,
"randomEuclideanPosMin": [-8.0,-8.0,0.0],
"randomEuclideanPosMax": [8.0,8.0,5.0],
"randomEuclideanEulerMin": [0,0,0],
"randomEuclideanEulerMax": [0,0,0],
"randomTargetPosMin": [-20.0,-20.0,-3.0],
"randomTargetPosMax": [20.0,20.0,-0.2],
"randomTargetEulerMin": [0,0,0],
"randomTargetEulerMax": [0,0,0],
"randomTargetRollDeg": [-10.0,10.0],
"targetObjectActive":true,
"tragetObjectMovementType":"random"},
"SENSORS": [{"type": "SensorCameraRGBD",
"sensorParams": {
"outputBaseName":"sensor_1",
"imageResolution": [640,480],
"KMatrix": [541.14, 0, 320,
0, 541.14, 240,
0, 0, 1],
"transformation": [0.0,0,0,1.0,0.0,0,0],
"triggerInterval": 1,
"renderPasses": {
"RGBDPass": {"activationSlot":[1], "DepthEnabled": true},
"SemanticPass": {"activationSlot":[1,1]},
"InstancePass": {"activationSlot":[1]}
}
}
}]
},
"ENVIRONMENT_EFFECTS_SETUP": {
"GENERAL": {"backgroundStrength": [0.1],
"stepInterval": 1
},
"ENVIRONMENT_EFFECTS": [ {"type": "EnvLightBlenderSky",
"stepInterval": 1,
"environmentEffectsParams": {
"stepIntervalOption": "GLOBAL",
"stepInterval": 1,
"SunSize": [0.545],
"SunIntensity": [1.0],
"SunElevation": [15.0,90.0],
"SunRotation": [0.0,360.0],
"SunAltitude": [3000.0,3350.0],
"AirDensity": [1.0,2.0],
"DustDensity": [0.0,10.0],
"OzoneDensity": [0.0,5.0],
"SunStrength": [0.0001,0.1],
"passParams": { "RGBDPass": {"rgbIDVec": [1,-1,-1,-1]},
"SemanticPass": {"semanticIDVec": [500,500,500,500]},
"InstancePass": {"instanceIDVec": [-1]}
}
}
}
]
},
"ASSET_SETUP": {
"GENERAL": {},
"MATERIALS": [ {"name": "terrain_01",
"type":"MaterialTerrain",
"materialParams":{
"general": {"minNumMixTerrains":1,
"maxNumMixTerrains":2,
"hardLabelBorders":true,
"withReplacement":true,
"dispMidLevel":0.0,
"dispScale":1.0,
"normalStrength":1.0,
"mergingNoise": {
"Scale": [3.0,7.0],
"Detail": [1.0,3.0],
"Roughness": [0.2,0.5],
"Distortion": [0.0,0.6]
}},
"terrainTextureList": [
{
"templatePath": "oaisys_data/examples/assets/materials/rock_ground/rock_ground.json",
"passParams": { "rgb": {},
"semantic_label": {"labelIDVec": [[30,500,5,2]]},
"instance_label": {}
},
"colorAdjustment": {
"cColorPoints": [[0.70758,0.30417]],
"rColorPoints": [[0.50909,0.48750]],
"gColorPoints": [[0.5,0.5]],
"bColorPoints": [[0.5,0.48750]]
},
"size": 120.0,
"dispStrength": 0.03
},
{
"templatePath": "oaisys_data/examples/assets/materials/dry_ground_01/dry_ground_01.json",
"passParams": { "rgb": {},
"semantic_label": {"labelIDVec": [[30,500,5,2]]},
"instance_label": {}
},
"colorAdjustment": {
"cColorPoints": [[0.70758,0.30417]],
"rColorPoints": [[0.50909,0.48750]],
"gColorPoints": [[0.5,0.5]],
"bColorPoints": [[0.5,0.48750]]
},
"size": 120.0,
"dispStrength": 0.03
}
]
}}
],
"STAGES": [{"name": "landscape01",
"type": "StageBlenderLandscape",
"stageParams": {
"stageName": "landscape",
"stageSizeX": 200,
"stageLandscapePreset": "another_noise",
"assetMaterial": "terrain_01",
"landscapeParams": {"random_seed":[0,1000]}
}
}
],
"MESHES": [ {"name": "rock1",
"type": "MeshMultipleRandom",
"meshParams": {
"meshFilePath":"oaisys_data/blender_files/rocks/rocks_01.blend",
"meshInstanceName": "rock_02",
"numberInstances": [300,500],
"randomSwitchOnOff": false,
"instanceLabelActive": false,
"useDensityMap": true,
"densityMapSettings": {
"numberInstances": [13000,15000],
"densityMap": {
"noiseType": "VORONOI",
"intensity": 1.2,
"size": 0.2,
"colorStopPosition_0":0.6,
"colorStopColor_0":[0,0,0,1],
"colorStopPosition_1":1.0,
"colorStopColor_1":[1,1,1,1]
}
},
"defaultSize": 1.0,
"strengthRandomScale": 1.0,
"randomRotationEnabled": true,
"rotationOptionMode":"NOR",
"rotationOptionFactor":0.4,
"rotationOptionPhase":0.3,
"rotationOptionPhaseRandom":0.7,
"meshEmitter":"STAGE",
"appliedOnStage":"landscape01",
"passParams": { "rgb": {},
"semantic_label": {"labelIDVec": [[60,200,0,200]]},
"instance_label": {}
}
}
},
{"name": "rock2",
"type": "MeshMultipleRandom",
"meshParams": {
"meshFilePath":"oaisys_data/blender_files/rocks/rocks_01.blend",
"meshInstanceName": "rock_02",
"numberInstances": [300,500],
"randomSwitchOnOff": false,
"instanceLabelActive": true,
"useDensityMap": true,
"densityMapSettings": {
"numberInstances": [5000,8000],
"densityMap": {
"noiseType": "VORONOI",
"intensity": 1.2,
"size": 0.2,
"colorStopPosition_0":0.6,
"colorStopColor_0":[0,0,0,1],
"colorStopPosition_1":1.0,
"colorStopColor_1":[1,1,1,1]
}
},
"defaultSize": 3.0,
"strengthRandomScale": 1.0,
"randomRotationEnabled": true,
"rotationOptionMode":"NOR",
"rotationOptionFactor":0.4,
"rotationOptionPhase":0.3,
"rotationOptionPhaseRandom":0.7,
"meshEmitter":"STAGE",
"appliedOnStage":"landscape01",
"passParams": { "rgb": {},
"semantic_label": {"labelIDVec": [[60,200,0,200]]},
"instance_label": {}
}
}
}
]
}
}