config.yml.shelf

camera:
  num_poses: 4
  camera_poses: [[0.5, 0, 0.12, 0.5, 0.5, 0.5, 0.5], [0.5, -0.15, 0.12, 0.612, 0.612, 0.354, 0.354], [0.5, 0.15, 0.12, 0.354, 0.354, 0.612, 0.612], [0.5, 0, 0.3, 0.612, 0.354, 0.354, 0.612]]
  camera_intrinsics: [[619.444214, 0.0, 320],[0.0, 619.444336, 240],[0.0, 0.0, 1.0]]

rest_surface:
  type: shelf
  surface_pose: [0, 0, 0, 0, 0, 0, 1]

Models: [crayola_24_ct, expo_dry_erase_board_eraser, folgers_classic_roast_coffee, 
scotch_duct_tape, dasani_water_bottle, jane_eyre_dvd, up_glucose_bottle, laugh_out_loud_joke_book,
soft_white_lightbulb, kleenex_tissue_box, ticonderoga_12_pencils, dove_beauty_bar, dr_browns_bottle_brush,
elmers_washable_no_run_school_glue, rawlings_baseball]

params:
  num_images: 10
  label_type: box
  minimum_objects_in_scene: 2
  maximum_objects_in_scene: 3
  range_x: [-0.20, 0.15]
  range_y: [-0.12, 0.12]
  range_z: [0.08, 0.12]
  num_simulation_steps: 80
  light_position_range_x: [0.8, 1.2]
  light_position_range_y: [-0.12, 0.12]
  light_position_range_z: [0.12, 0.42]