{
  "rig": "0.36.0",
  "document": {
    "title": "Robot lab",
    "defaultUnit": "m"
  },
  "entities": [
    {
      "id": "world",
      "components": {
        "rig.meta.named": { "name": "World", "stableId": "world" },
        "rig.spatial.vertex": {},
        "rig.sim.world": {
          "gravity": [0, -9.81, 0],
          "stepSeconds": 0.01
        }
      }
    },
    {
      "id": "table",
      "components": {
        "rig.meta.named": { "name": "Table", "stableId": "table" },
        "rig.spatial.relationship": { "parent": "world" },
        "rig.spatial.transform": { "position": [0, 0.04, 0] },
        "rig.sim.rigidbody": { "bodyType": "static" },
        "rig.sim.collider": {
          "kind": "box",
          "halfExtents": [0.6, 0.04, 0.4],
          "friction": 0.6,
          "frictionCombine": "average"
        },
        "rig.sensor.class": { "name": "table" }
      }
    },
    {
      "id": "base",
      "components": {
        "rig.meta.named": { "name": "base_link", "stableId": "base_link" },
        "rig.spatial.relationship": { "parent": "world" },
        "rig.spatial.transform": { "position": [0, 0.12, 0] },
        "rig.sim.articulation": { "fixedBase": true },
        "rig.sim.rigidbody": {
          "bodyType": "dynamic",
          "mass": 2,
          "centerOfMass": [0, 0.02, 0],
          "inertia": [0.01, 0.012, 0.01, 0, 0, 0]
        },
        "rig.sim.collider": { "kind": "box", "halfExtents": [0.08, 0.04, 0.08] },
        "rig.sensor.class": { "name": "base" },
        "rig.place.geo": {
          "latitudeDegrees": -33.86,
          "longitudeDegrees": 151.21,
          "altitudeMetres": 18
        },
        "rig.sensor.gnss": { "rateHz": 5, "horizontalMetres": 1.2 }
      }
    },
    {
      "id": "link",
      "components": {
        "rig.meta.named": { "name": "arm_link", "stableId": "arm_link" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": {
          "position": [0, 0.2, 0],
          "rotation": [0, 0.1305, 0, 0.9914]
        },
        "rig.sim.rigidbody": {
          "bodyType": "dynamic",
          "mass": 0.8,
          "inertia": [0.0064, 0.00085, 0.0064, 0, 0, 0]
        },
        "rig.sim.collider": { "kind": "box", "halfExtents": [0.04, 0.15, 0.04] },
        "rig.sensor.class": { "name": "link" }
      }
    },
    {
      "id": "shoulder",
      "components": {
        "rig.meta.named": { "name": "shoulder", "stableId": "shoulder" },
        "rig.sim.joint": {
          "kind": "hinge",
          "a": "link",
          "b": "base",
          "axis": [0, 1, 0],
          "min": -90,
          "max": 90,
          "position": 15,
          "velocity": 0
        }
      }
    },
    {
      "id": "drive",
      "components": {
        "rig.meta.named": { "name": "shoulder_drive", "stableId": "shoulder_drive" },
        "rig.sim.actuator": {
          "joint": "shoulder",
          "mode": "position",
          "effort": 12,
          "target": 15
        }
      }
    },
    {
      "id": "wrist",
      "components": {
        "rig.meta.named": { "name": "wrist_wrench", "stableId": "wrist_wrench" },
        "rig.spatial.relationship": { "parent": "link" },
        "rig.spatial.transform": { "position": [0, 0.15, 0] },
        "rig.sensor.wrench": {
          "rateHz": 100,
          "force": [0, -7.8, 0.4],
          "torque": [0.02, 0, 0]
        }
      }
    },
    {
      "id": "beam",
      "components": {
        "rig.meta.named": { "name": "forward_range", "stableId": "forward_range" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0.08, 0.04, 0] },
        "rig.sensor.range": {
          "rangeMax": 2,
          "distance": 0.42,
          "rateHz": 20
        }
      }
    },
    {
      "id": "eye",
      "components": {
        "rig.meta.named": { "name": "class_camera", "stableId": "class_camera" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0.05, 0.06, 0.06] },
        "rig.spatial.camera": { "fovYDegrees": 70, "nearClip": 0.05, "farClip": 4 },
        "rig.sensor.label": {
          "mode": "semantic",
          "classes": ["base", "link", "table"]
        }
      }
    },
    {
      "id": "mass-range",
      "components": {
        "rig.sim.domain": {
          "target": "base",
          "propertyKey": "mass",
          "min": 1.6,
          "max": 2.4,
          "seed": 7
        }
      }
    },
    {
      "id": "reach-test",
      "components": {
        "rig.meta.named": { "name": "reach test", "stableId": "reach-test" },
        "rig.sim.episode": { "task": "reach", "success": false }
      }
    },
    {
      "id": "reach-policy",
      "components": {
        "rig.meta.named": { "name": "reach policy", "stableId": "reach-policy" },
        "rig.ai.policy": {
          "actions": ["drive"],
          "observations": ["wrist", "beam"],
          "task": "reach",
          "episode": "reach-test"
        }
      }
    }
  ]
}