{
  "rig": "0.34.0",
  "document": {
    "title": "Robot lesson",
    "defaultUnit": "m"
  },
  "entities": [
    {
      "id": "world",
      "components": {
        "rig.meta.named": { "name": "World", "stableId": "world" },
        "rig.spatial.vertex": {}
      }
    },
    {
      "id": "base",
      "components": {
        "rig.meta.named": { "name": "base_link", "stableId": "base_link" },
        "rig.spatial.relationship": { "parent": "world" },
        "rig.spatial.transform": { "position": [0, 0, 0] },
        "rig.sim.rigidbody": { "bodyType": "static" },
        "rig.sim.collider": { "kind": "box", "halfExtents": [0.2, 0.05, 0.2] }
      }
    },
    {
      "id": "link",
      "components": {
        "rig.meta.named": { "name": "arm_link", "stableId": "arm_link" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0, 0.3, 0] },
        "rig.sim.rigidbody": { "bodyType": "dynamic", "mass": 0.8 },
        "rig.sim.collider": { "kind": "box", "halfExtents": [0.04, 0.15, 0.04] }
      }
    },
    {
      "id": "shadow",
      "components": {
        "rig.meta.named": { "name": "shadow_link", "stableId": "shadow_link" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0, 0.3, 0.15] },
        "rig.sim.rigidbody": { "bodyType": "dynamic", "mass": 0.8 },
        "rig.sim.collider": { "kind": "box", "halfExtents": [0.04, 0.15, 0.04] }
      }
    },
    {
      "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
        }
      }
    },
    {
      "id": "shadow-hinge",
      "components": {
        "rig.meta.named": { "name": "shadow_hinge", "stableId": "shadow_hinge" },
        "rig.sim.joint": {
          "kind": "hinge",
          "a": "shadow",
          "b": "base",
          "axis": [0, 1, 0],
          "min": -90,
          "max": 90,
          "mimic": "shoulder",
          "mimicMultiplier": 1,
          "mimicOffset": 0
        }
      }
    },
    {
      "id": "drive",
      "components": {
        "rig.meta.named": { "name": "shoulder_drive", "stableId": "shoulder_drive" },
        "rig.sim.actuator": {
          "joint": "shoulder",
          "mode": "position",
          "effort": 12,
          "maxSpeed": 90,
          "stiffness": 20,
          "damping": 1,
          "target": 0
        }
      }
    },
    {
      "id": "lidar",
      "components": {
        "rig.meta.named": { "name": "lidar", "stableId": "lidar" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0, 0.2, 0] },
        "rig.sensor.lidar": {
          "pattern": "spin",
          "channels": 16,
          "columns": 1024,
          "fovXDegrees": 360,
          "fovYDegrees": 30,
          "fovYCenterDegrees": 0,
          "rangeMin": 0.1,
          "rangeMax": 20,
          "rateHz": 10,
          "returns": 1
        }
      }
    },
    {
      "id": "eye",
      "components": {
        "rig.meta.named": { "name": "depth_camera", "stableId": "depth_camera" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0.05, 0.15, 0.08] },
        "rig.spatial.camera": {
          "projection": "perspective",
          "fovYDegrees": 70,
          "nearClip": 0.1,
          "farClip": 10
        },
        "rig.sensor.depth": {
          "rangeMin": 0.2,
          "rangeMax": 4,
          "measure": "ray",
          "width": 640,
          "height": 480
        }
      }
    },
    {
      "id": "imu",
      "components": {
        "rig.meta.named": { "name": "imu", "stableId": "imu" },
        "rig.spatial.relationship": { "parent": "base" },
        "rig.spatial.transform": { "position": [0, 0.05, 0] },
        "rig.sensor.imu": {
          "rateHz": 200,
          "acceleration": [0, 9.81, 0],
          "angularVelocityDegrees": [0, 2, 0]
        }
      }
    },
    {
      "id": "reach",
      "components": {
        "rig.meta.named": { "name": "reach", "stableId": "reach" },
        "rig.anim.clip": { "duration": 1, "wrap": "once" }
      }
    },
    {
      "id": "reach-action",
      "components": {
        "rig.anim.track": {
          "clip": "reach",
          "target": "drive",
          "propertyKey": "target",
          "times": [0, 1],
          "values": [0, 40],
          "stride": 1
        }
      }
    },
    {
      "id": "reach-sense",
      "components": {
        "rig.anim.track": {
          "clip": "reach",
          "target": "imu",
          "propertyKey": "acceleration",
          "times": [0, 1],
          "values": [0, 9.81, 0, 0, 9.7, 0.2],
          "stride": 3
        }
      }
    },
    {
      "id": "reach-take",
      "components": {
        "rig.meta.named": { "name": "reach take", "stableId": "reach-take" },
        "rig.sim.episode": {
          "clip": "reach",
          "task": "reach",
          "success": true,
          "actions": ["reach-action"],
          "observations": ["reach-sense"]
        }
      }
    }
  ]
}