TheXeos commited on
Commit
501df4c
1 Parent(s): 5991c92

Add gltf files and simple preview

Browse files
Files changed (2) hide show
  1. app.py +7 -0
  2. rewardexample.gltf +1 -0
app.py ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ import gradio as gr
2
+
3
+
4
+ with gr.Blocks() as demo:
5
+ scene_preview = gr.Model3D(value="rewardexample.gltf", clear_color=[0.15, 0.23, 0.3, 0.0], label="Scene Preview")
6
+
7
+ demo.launch()
rewardexample.gltf ADDED
@@ -0,0 +1 @@
 
 
1
+ {"extensions": {"KHR_lights_punctual": {"lights": [{"color": [1.0, 1.0, 1.0], "intensity": 0.9, "type": "directional", "innerConeAngle": 0.0, "outerConeAngle": 0.7853981633974483}]}, "HF_actuators": {"objects": [{"mapping": [{"action": "change_rotation", "amplitude": -90, "offset": 0.0, "axis": [0, 1, 0], "use_local_coordinates": true, "is_impulse": false}, {"action": "change_rotation", "amplitude": 90, "offset": 0.0, "axis": [0, 1, 0], "use_local_coordinates": true, "is_impulse": false}, {"action": "change_position", "amplitude": 2.0, "offset": 0.0, "axis": [1, 0, 0], "use_local_coordinates": true, "is_impulse": false}], "actuator_tag": "actuator", "n": 3, "dtype": "float32"}]}, "HF_rigid_bodies": {"objects": [{"mass": 1.0, "center_of_mass": [0.0, 0.0, 0.0], "linear_drag": 0.0, "angular_drag": 0.0, "constraints": ["freeze_rotation_x", "freeze_rotation_z"], "use_gravity": true, "collision_detection": "discrete", "kinematic": false}]}, "HF_colliders": {"objects": [{"type": "box", "bounding_box": [100, 0.1, 100], "offset": [0.0, 0.05, 0.0]}, {"type": "box", "bounding_box": [0.1, 1, 20], "offset": [0.05, 0.5, 0.0]}, {"type": "box", "bounding_box": [20, 1, 0.1], "offset": [0.0, 0.5, 0.05]}, {"type": "box", "bounding_box": [1.0, 1.0, 1.0], "offset": [0.0, 0.0, 0.0]}, {"type": "capsule", "bounding_box": [0.2, 1.0, 0.2]}]}, "HF_reward_functions": {"objects": [{"type": "and", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "sparse", "entity_a": "cube", "entity_b": "actor", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "sparse", "entity_a": "cube", "entity_b": "cube", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "or", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "dense", "entity_a": "cube", "entity_b": "actor", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "not", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "see", "entity_a": "cube", "entity_b": "actor", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}, {"type": "timeout", "distance_metric": "euclidean", "direction": [1.0, 0.0, 0.0], "scalar": 1.0, "threshold": 1.0, "is_terminal": false, "is_collectable": false, "trigger_once": true}]}, "HF_state_sensors": {"objects": [{"target_entity": "actor", "reference_entity": "camera", "properties": ["position"], "sensor_tag": "StateSensor"}]}, "HF_config": {}}, "accessors": [{"bufferView": 0, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 24, "type": "VEC3", "max": [50.0, 0.10000000149011612, 50.0], "min": [-50.0, 0.0, -50.0]}, {"bufferView": 1, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 24, "type": "VEC3", "max": [1.0, 1.0, 1.0], "min": [-1.0, -1.0, -1.0]}, {"bufferView": 2, "byteOffset": 0, "componentType": 5125, "normalized": false, "count": 36, "type": "SCALAR", "max": [23], "min": [0]}, {"bufferView": 3, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 24, "type": "VEC3", "max": [0.10000000149011612, 1.0, 10.0], "min": [0.0, 0.0, -10.0]}, {"bufferView": 4, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 24, "type": "VEC3", "max": [10.0, 1.0, 0.10000000149011612], "min": [-10.0, 0.0, 0.0]}, {"bufferView": 5, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 24, "type": "VEC3", "max": [0.5, 0.5, 0.5], "min": [-0.5, -0.5, -0.5]}, {"bufferView": 6, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 100, "type": "VEC3", "max": [0.20000000298023224, 0.49009689688682556, 0.19498558342456818], "min": [-0.20000000298023224, -0.49009689688682556, -0.19498558342456818]}, {"bufferView": 7, "byteOffset": 0, "componentType": 5126, "normalized": false, "count": 100, "type": "VEC3", "max": [0.9942585825920105, 0.950368344783783, 0.9803371429443359], "min": [-0.9942585825920105, -0.950368344783783, -0.9803371429443359]}, {"bufferView": 8, "byteOffset": 0, "componentType": 5125, "normalized": false, "count": 588, "type": "SCALAR", "max": [99], "min": [0]}], "asset": {"version": "2.0"}, "buffers": [{"uri": "data:application/octet-stream;base64,AABIwgAAAAAAAEjCAABIQgAAAAAAAEjCAABIws3MzD0AAEjCAABIQs3MzD0AAEjCAABIwgAAAAAAAEhCAABIQgAAAAAAAEhCAABIws3MzD0AAEhCAABIQs3MzD0AAEhCAABIwgAAAAAAAEjCAABIwgAAAAAAAEjCAABIQgAAAAAAAEjCAABIQgAAAAAAAEjCAABIws3MzD0AAEjCAABIws3MzD0AAEjCAABIQs3MzD0AAEjCAABIQs3MzD0AAEjCAABIwgAAAAAAAEhCAABIwgAAAAAAAEhCAABIQgAAAAAAAEhCAABIQgAAAAAAAEhCAABIws3MzD0AAEhCAABIws3MzD0AAEhCAABIQs3MzD0AAEhCAABIQs3MzD0AAEhCAACAvwAAAAAAAAAAAACAPwAAAAAAAAAAAACAvwAAAAAAAAAAAACAPwAAAAAAAAAAAACAvwAAAAAAAAAAAACAPwAAAAAAAAAAAACAvwAAAAAAAAAAAACAPwAAAAAAAAAAAAAAAAAAgL8AAAAAAAAAAAAAAAAAAIC/AAAAAAAAgL8AAAAAAAAAAAAAAAAAAIC/AAAAAAAAgD8AAAAAAAAAAAAAAAAAAIC/AAAAAAAAgD8AAAAAAAAAAAAAAAAAAIC/AAAAAAAAgL8AAAAAAAAAAAAAAAAAAIA/AAAAAAAAgL8AAAAAAAAAAAAAAAAAAIA/AAAAAAAAgD8AAAAAAAAAAAAAAAAAAIA/AAAAAAAAgD8AAAAAAAAAAAAAAAAAAIA/AAAAAAQAAAACAAAABgAAAAIAAAAEAAAABQAAAAEAAAAHAAAAAwAAAAcAAAABAAAACAAAAAoAAAAQAAAAEgAAABAAAAAKAAAAFAAAABYAAAAMAAAADgAAAAwAAAAWAAAACwAAAAkAAAAPAAAADQAAAA8AAAAJAAAAEQAAABMAAAAVAAAAFwAAABUAAAATAAAAAAAAAAAAAAAAACDBzczMPQAAAAAAACDBAAAAAAAAgD8AACDBzczMPQAAgD8AACDBAAAAAAAAAAAAACBBzczMPQAAAAAAACBBAAAAAAAAgD8AACBBzczMPQAAgD8AACBBAAAAAAAAAAAAACDBAAAAAAAAAAAAACDBzczMPQAAAAAAACDBzczMPQAAAAAAACDBAAAAAAAAgD8AACDBAAAAAAAAgD8AACDBzczMPQAAgD8AACDBzczMPQAAgD8AACDBAAAAAAAAAAAAACBBAAAAAAAAAAAAACBBzczMPQAAAAAAACBBzczMPQAAAAAAACBBAAAAAAAAgD8AACBBAAAAAAAAgD8AACBBzczMPQAAgD8AACBBzczMPQAAgD8AACBBAAAgwQAAAAAAAAAAAAAgQQAAAAAAAAAAAAAgwQAAgD8AAAAAAAAgQQAAgD8AAAAAAAAgwQAAAADNzMw9AAAgQQAAAADNzMw9AAAgwQAAgD/NzMw9AAAgQQAAgD/NzMw9AAAgwQAAAAAAAAAAAAAgwQAAAAAAAAAAAAAgQQAAAAAAAAAAAAAgQQAAAAAAAAAAAAAgwQAAgD8AAAAAAAAgwQAAgD8AAAAAAAAgQQAAgD8AAAAAAAAgQQAAgD8AAAAAAAAgwQAAAADNzMw9AAAgwQAAAADNzMw9AAAgQQAAAADNzMw9AAAgQQAAAADNzMw9AAAgwQAAgD/NzMw9AAAgwQAAgD/NzMw9AAAgQQAAgD/NzMw9AAAgQQAAgD/NzMw9AAAAvwAAAL8AAAC/AAAAPwAAAL8AAAC/AAAAvwAAAD8AAAC/AAAAPwAAAD8AAAC/AAAAvwAAAL8AAAA/AAAAPwAAAL8AAAA/AAAAvwAAAD8AAAA/AAAAPwAAAD8AAAA/AAAAvwAAAL8AAAC/AAAAvwAAAL8AAAC/AAAAPwAAAL8AAAC/AAAAPwAAAL8AAAC/AAAAvwAAAD8AAAC/AAAAvwAAAD8AAAC/AAAAPwAAAD8AAAC/AAAAPwAAAD8AAAC/AAAAvwAAAL8AAAA/AAAAvwAAAL8AAAA/AAAAPwAAAL8AAAA/AAAAPwAAAL8AAAA/AAAAvwAAAD8AAAA/AAAAvwAAAD8AAAA/AAAAPwAAAD8AAAA/AAAAPwAAAD8AAAA/zcxMPpqZmT6amRkkt4Q4PpqZmT4CuLG9pWH/PZqZmT59HiC+Bko2PZqZmT5Nqke+Bko2vZqZmT5Nqke+pWH/vZqZmT59HiC+t4Q4vpqZmT4CuLG9t4Q4PpjgrD59HqC9pWH/PSdWvD4nQxC+Bko2PW/qxD5l5DO+Bko2vW/qxD5l5DO+pWH/vSdWvD4nQxC+t4Q4vpjgrD59HqC9t4Q4PidWvD6YnF29pWH/PW0x2D5Nqse9Bko2Pfym5z59+vi9Bko2vfym5z59+vi9pWH/vW0x2D5Nqse9t4Q4vidWvD6YnF29t4Q4Pm/qxD5CL568pWH/Pfym5z73hA69Bko2Pfvt+j4CuDG9Bko2vfvt+j4CuDG9pWH/vfym5z73hA69t4Q4vm/qxD5CL568t4Q4Pm/qxD5CL548pWH/Pfym5z73hA49Bko2Pfvt+j4CuDE9Bko2vfvt+j4CuDE9pWH/vfym5z73hA49t4Q4vm/qxD5CL548t4Q4PidWvD6YnF09pWH/PW0x2D5Nqsc9Bko2Pfym5z59+vg9Bko2vfym5z59+vg9pWH/vW0x2D5Nqsc9t4Q4vidWvD6YnF09t4Q4PpjgrD59HqA9pWH/PSdWvD4nQxA+Bko2PW/qxD5l5DM+Bko2vW/qxD5l5DM+pWH/vSdWvD4nQxA+t4Q4vpjgrD59HqA9t4Q4PpqZmT4CuLE9pWH/PZqZmT59HiA+Bko2PZqZmT5Nqkc+Bko2vZqZmT5Nqkc+pWH/vZqZmT59HiA+t4Q4vpqZmT4CuLE9zcxMvpqZmT6amRkkzcxMPpqZmb6amRmkt4Q4PpqZmb4CuLG9pWH/PZqZmb59HiC+Bko2PZqZmb5Nqke+Bko2vZqZmb5Nqke+pWH/vZqZmb59HiC+t4Q4vpqZmb4CuLG9t4Q4PpjgrL59HqC9pWH/PSdWvL4nQxC+Bko2PW/qxL5l5DO+Bko2vW/qxL5l5DO+pWH/vSdWvL4nQxC+t4Q4vpjgrL59HqC9t4Q4PidWvL6YnF29pWH/PW0x2L5Nqse9Bko2Pfym5759+vi9Bko2vfym5759+vi9pWH/vW0x2L5Nqse9t4Q4vidWvL6YnF29t4Q4Pm/qxL5CL568pWH/Pfym5773hA69Bko2Pfvt+r4CuDG9Bko2vfvt+r4CuDG9pWH/vfym5773hA69t4Q4vm/qxL5CL568t4Q4Pm/qxL5CL548pWH/Pfym5773hA49Bko2Pfvt+r4CuDE9Bko2vfvt+r4CuDE9pWH/vfym5773hA49t4Q4vm/qxL5CL548t4Q4PidWvL6YnF09pWH/PW0x2L5Nqsc9Bko2Pfym5759+vg9Bko2vfym5759+vg9pWH/vW0x2L5Nqsc9t4Q4vidWvL6YnF09t4Q4PpjgrL59HqA9pWH/PSdWvL4nQxA+Bko2PW/qxL5l5DM+Bko2vW/qxL5l5DM+pWH/vSdWvL4nQxA+t4Q4vpjgrL59HqA9t4Q4PpqZmb4CuLE9pWH/PZqZmb59HiA+Bko2PZqZmb5Nqkc+Bko2vZqZmb5Nqkc+pWH/vZqZmb59HiA+t4Q4vpqZmb4CuLE9zcxMvpqZmb6amRmk/0R+P0i57T0AAAAAV1drP30SIT3Gfci+aU0oP1svkD1QDkC/r1yIPrzfsj0PvXW/tTE1vpzgsj1f93q/Pv0Vv/swkD2vrE6/TTRhv/wTIT3/ofK+N8JmP8RfQD4CvMe+edsfP4CDrT4EJzS/GmVkPmaN2D511mC/GmVkvmaN2D521mC/edsfv4CDrT4EJzS/N8Jmv8RfQD4CvMe+N8JmP7JSrT50OIq+edsfP5VUHD+zVvm+GWVkPl0bQz+xlxu/GWVkvl0bQz+xlxu/edsfv5VUHD+0Vvm+N8Jmv7JSrT50OIq+N8JmP1oh2D5GUsW9edsfP9rwQj/W+TG+HGVkPldLcz8VH16+HGVkvldLcz8VH16+etsfv9nwQj/X+TG+N8Jmv1oh2D5GUsW9N8JmP1sh2D5GUsU9e9sfP9nwQj/W+TE+HGVkPldLcz8VH14+HGVkvldLcz8VH14+etsfv9nwQj/W+TE+N8Jmv1sh2D5GUsU9N8JmP7JSrT50OIo+edsfP5VUHD+zVvk+GWVkPl0bQz+xlxs/GWVkvl0bQz+xlxs/edsfv5VUHD+0Vvk+N8Jmv7JSrT50OIo+N8JmP8RfQD4CvMc+edsfP4CDrT4EJzQ/GmVkPmaN2D521mA/GWVkvmWN2D521mA/etsfv4GDrT4DJzQ/N8Jmv8RfQD4CvMc+TTRhP/wTIT3/ofI+Pv0VP/swkD2vrE4/tTE1Ppzgsj1f93o/r1yIvrzfsj0PvXU/aU0ov1svkD1QDkA/V1drv30SIT3Gfcg+/0R+v0i57T0AAAAAu4d+PzYm1r1BErq8TjRhP/wTIb3+ofK+Pv0VP/swkL2vrE6/tjE1Pp3gsr1g93q/rlyIvrvfsr0PvXW/aU0ov1svkL1QDkC/dWxmv3WUSb12pt2+N8JmP8RfQL4CvMe+edsfP4CDrb4EJzS/GmVkPmaN2L511mC/GmVkvmaN2L521mC/edsfv4CDrb4EJzS/N8Jmv8RfQL4CvMe+N8JmP7JSrb50OIq+edsfP5VUHL+zVvm+GWVkPl0bQ7+xlxu/GWVkvl0bQ7+xlxu/edsfv5VUHL+0Vvm+N8Jmv7JSrb50OIq+N8JmP1oh2L5GUsW9edsfP9rwQr/W+TG+HGVkPldLc78VH16+HGVkvldLc78VH16+etsfv9nwQr/X+TG+N8Jmv1oh2L5GUsW9N8JmP1sh2L5GUsU9e9sfP9nwQr/W+TE+HGVkPldLc78VH14+HGVkvldLc78VH14+etsfv9nwQr/W+TE+N8Jmv1sh2L5GUsU9N8JmP7JSrb50OIo+edsfP5VUHL+zVvk+GWVkPl0bQ7+xlxs/GWVkvl0bQ7+xlxs/edsfv5VUHL+0Vvk+N8Jmv7JSrb50OIo+N8JmP8RfQL4CvMc+edsfP4CDrb4EJzQ/GmVkPmaN2L521mA/GWVkvmWN2L521mA/etsfv4GDrb4DJzQ/N8Jmv8RfQL4CvMc+dWxmP3WUSb12pt0+aU0oP1svkL1QDkA/rlyIPrvfsr0PvXU/tjE1vp3gsr1g93o/Pv0Vv/swkL2vrE4/TjRhv/wTIb3+ofI+u4d+vzYm1r1BEro8AAAAAAEAAAAHAAAAAAAAAAcAAAANAAAAAAAAAA0AAAATAAAAAAAAABMAAAAZAAAAAAAAABkAAAAfAAAAAAAAAB8AAAAlAAAAAAAAACUAAAArAAAABgAAADEAAAAMAAAADAAAADEAAAASAAAAEgAAADEAAAAYAAAAGAAAADEAAAAeAAAAHgAAADEAAAAkAAAAJAAAADEAAAAqAAAAKgAAADEAAAAwAAAAOQAAADMAAAAyAAAAPwAAADkAAAAyAAAARQAAAD8AAAAyAAAASwAAAEUAAAAyAAAAUQAAAEsAAAAyAAAAVwAAAFEAAAAyAAAAXQAAAFcAAAAyAAAAOAAAAD4AAABjAAAAPgAAAEQAAABjAAAARAAAAEoAAABjAAAASgAAAFAAAABjAAAAUAAAAFYAAABjAAAAVgAAAFwAAABjAAAAXAAAAGIAAABjAAAAAgAAAAgAAAABAAAACAAAAAcAAAABAAAANAAAADMAAAA6AAAAOgAAADMAAAA5AAAACQAAAAgAAAADAAAAAwAAAAgAAAACAAAAOwAAADUAAAA6AAAAOgAAADUAAAA0AAAAAwAAAAQAAAAJAAAACgAAAAkAAAAEAAAANQAAADsAAAA2AAAAPAAAADYAAAA7AAAACgAAAAQAAAALAAAACwAAAAQAAAAFAAAAPAAAAD0AAAA2AAAANgAAAD0AAAA3AAAABQAAAAYAAAALAAAACwAAAAYAAAAMAAAANwAAAD0AAAA4AAAAPQAAAD4AAAA4AAAACAAAAA4AAAAHAAAADgAAAA0AAAAHAAAAOgAAADkAAABAAAAAQAAAADkAAAA/AAAADwAAAA4AAAAJAAAACAAAAAkAAAAOAAAAQQAAADsAAABAAAAAOgAAAEAAAAA7AAAACQAAAAoAAAAPAAAAEAAAAA8AAAAKAAAAOwAAAEEAAAA8AAAAQgAAADwAAABBAAAAEAAAAAoAAAARAAAACwAAABEAAAAKAAAAQgAAAEMAAAA8AAAAPQAAADwAAABDAAAACwAAAAwAAAARAAAAEQAAAAwAAAASAAAAPQAAAEMAAAA+AAAAQwAAAEQAAAA+AAAAFAAAABMAAAAOAAAADQAAAA4AAAATAAAARgAAAEAAAABFAAAAPwAAAEUAAABAAAAAFQAAABQAAAAPAAAAFAAAAA4AAAAPAAAARwAAAEEAAABGAAAARgAAAEEAAABAAAAADwAAABAAAAAVAAAAFgAAABUAAAAQAAAAQQAAAEcAAABCAAAASAAAAEIAAABHAAAAFgAAABAAAAAXAAAAFwAAABAAAAARAAAASAAAAEkAAABCAAAASQAAAEMAAABCAAAAFwAAABEAAAAYAAAAEgAAABgAAAARAAAASQAAAEoAAABDAAAARAAAAEMAAABKAAAAFAAAABoAAAATAAAAGQAAABMAAAAaAAAATAAAAEYAAABLAAAARQAAAEsAAABGAAAAFQAAABsAAAAUAAAAGgAAABQAAAAbAAAATQAAAEcAAABMAAAARgAAAEwAAABHAAAAFQAAABYAAAAbAAAAHAAAABsAAAAWAAAARwAAAE0AAABIAAAATgAAAEgAAABNAAAAFgAAABcAAAAcAAAAHQAAABwAAAAXAAAASAAAAE4AAABJAAAATwAAAEkAAABOAAAAFwAAABgAAAAdAAAAHgAAAB0AAAAYAAAASQAAAE8AAABKAAAAUAAAAEoAAABPAAAAGgAAACAAAAAZAAAAHwAAABkAAAAgAAAATAAAAEsAAABSAAAAUQAAAFIAAABLAAAAGwAAACEAAAAaAAAAGgAAACEAAAAgAAAATQAAAEwAAABTAAAATAAAAFIAAABTAAAAGwAAABwAAAAhAAAAIgAAACEAAAAcAAAATQAAAFMAAABOAAAAVAAAAE4AAABTAAAAHAAAAB0AAAAiAAAAHQAAACMAAAAiAAAATgAAAFQAAABPAAAATwAAAFQAAABVAAAAHQAAAB4AAAAjAAAAJAAAACMAAAAeAAAATwAAAFUAAABQAAAAVgAAAFAAAABVAAAAJgAAACUAAAAgAAAAIAAAACUAAAAfAAAAWAAAAFIAAABXAAAAUgAAAFEAAABXAAAAIQAAACcAAAAgAAAAJgAAACAAAAAnAAAAUwAAAFIAAABZAAAAWAAAAFkAAABSAAAAIQAAACIAAAAnAAAAKAAAACcAAAAiAAAAUwAAAFkAAABUAAAAWgAAAFQAAABZAAAAIgAAACMAAAAoAAAAKQAAACgAAAAjAAAAVAAAAFoAAABVAAAAWwAAAFUAAABaAAAAKQAAACMAAAAqAAAAIwAAACQAAAAqAAAAWwAAAFwAAABVAAAAVQAAAFwAAABWAAAALAAAACsAAAAmAAAAJgAAACsAAAAlAAAAXgAAAFgAAABdAAAAWAAAAFcAAABdAAAAJwAAAC0AAAAmAAAAJgAAAC0AAAAsAAAAWQAAAFgAAABfAAAAXwAAAFgAAABeAAAAJwAAACgAAAAtAAAALgAAAC0AAAAoAAAAWQAAAF8AAABaAAAAYAAAAFoAAABfAAAAKAAAACkAAAAuAAAALgAAACkAAAAvAAAAWgAAAGAAAABbAAAAWwAAAGAAAABhAAAALwAAACkAAAAwAAAAKQAAACoAAAAwAAAAYQAAAGIAAABbAAAAWwAAAGIAAABcAAAAAAAAADIAAAABAAAAAQAAADIAAAAzAAAAAQAAADMAAAACAAAAAgAAADMAAAA0AAAAAgAAADQAAAADAAAAAwAAADQAAAA1AAAAAwAAADUAAAAEAAAABAAAADUAAAA2AAAABAAAADYAAAAFAAAABQAAADYAAAA3AAAABQAAADcAAAAGAAAABgAAADcAAAA4AAAAMQAAAGMAAAAwAAAAMAAAAGMAAABiAAAAMAAAAGIAAAAvAAAALwAAAGIAAABhAAAALwAAAGEAAAAuAAAALgAAAGEAAABgAAAALgAAAGAAAAAtAAAALQAAAGAAAABfAAAALQAAAF8AAAAsAAAALAAAAF8AAABeAAAALAAAAF4AAAArAAAAKwAAAF4AAABdAAAABgAAADgAAAAxAAAAYwAAADEAAAA4AAAAXQAAADIAAAArAAAAAAAAACsAAAAyAAAA", "byteLength": 6336}], "bufferViews": [{"buffer": 0, "byteOffset": 0, "byteLength": 288}, {"buffer": 0, "byteOffset": 288, "byteLength": 288}, {"buffer": 0, "byteOffset": 576, "byteLength": 144}, {"buffer": 0, "byteOffset": 720, "byteLength": 288}, {"buffer": 0, "byteOffset": 1008, "byteLength": 288}, {"buffer": 0, "byteOffset": 1296, "byteLength": 288}, {"buffer": 0, "byteOffset": 1584, "byteLength": 1200}, {"buffer": 0, "byteOffset": 2784, "byteLength": 1200}, {"buffer": 0, "byteOffset": 3984, "byteLength": 2352}], "cameras": [{"extras": {"sensor_tag": "CameraSensor"}, "perspective": {"yfov": 1.0471975511965976, "znear": 0.3}, "type": "perspective", "width": 40, "height": 40}], "materials": [{"name": "material_00", "pbrMetallicRoughness": {"baseColorFactor": [0.0, 0.0, 1.0, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_01", "pbrMetallicRoughness": {"baseColorFactor": [1.0, 0.0, 0.0, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_02", "pbrMetallicRoughness": {"baseColorFactor": [1.0, 0.0, 0.0, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_03", "pbrMetallicRoughness": {"baseColorFactor": [1.0, 0.0, 0.0, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_04", "pbrMetallicRoughness": {"baseColorFactor": [1.0, 0.0, 0.0, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_05", "pbrMetallicRoughness": {"baseColorFactor": [0.6992644045916308, 0.9669581753210145, 0.7123255485333795, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_06", "pbrMetallicRoughness": {"baseColorFactor": [1.0, 1.0, 1.0, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}, {"name": "material_07", "pbrMetallicRoughness": {"baseColorFactor": [0.7906847470403168, 0.8976238962564962, 0.3757437484808188, 1.0], "metallicFactor": 0.0, "roughnessFactor": 1.0}, "emissiveFactor": [0.0, 0.0, 0.0], "alphaMode": "OPAQUE", "alphaCutoff": 0.5, "doubleSided": false}], "meshes": [{"primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1}, "indices": 2, "material": 0, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 3, "NORMAL": 1}, "indices": 2, "material": 1, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 3, "NORMAL": 1}, "indices": 2, "material": 2, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 4, "NORMAL": 1}, "indices": 2, "material": 3, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 4, "NORMAL": 1}, "indices": 2, "material": 4, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 5, "NORMAL": 1}, "indices": 2, "material": 5, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 6, "NORMAL": 7}, "indices": 8, "material": 6, "mode": 4}]}, {"primitives": [{"attributes": {"POSITION": 5, "NORMAL": 1}, "indices": 2, "material": 7, "mode": 4}]}], "nodes": [{"name": "scene_00", "children": [1, 2, 4, 6, 8, 10, 12, 14, 28], "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 0.0, 0.0]}, {"extensions": {"KHR_lights_punctual": {"light": 0}}, "name": "sun", "rotation": [0.19134171618254484, 0.8001031451912656, 0.4619397662556433, -0.3314135740355918], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 20.0, 0.0]}, {"name": "floor", "children": [3], "mesh": 0, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 0.0, 0.0]}, {"extensions": {"HF_colliders": {"object_id": 0, "name": "floor_collider"}}, "name": "floor_collider"}, {"name": "wall1", "children": [5], "mesh": 1, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [-10.0, 0.0, 0.0]}, {"extensions": {"HF_colliders": {"object_id": 1, "name": "wall1_collider"}}, "name": "wall1_collider"}, {"name": "wall2", "children": [7], "mesh": 2, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [10.0, 0.0, 0.0]}, {"extensions": {"HF_colliders": {"object_id": 1, "name": "wall2_collider"}}, "name": "wall2_collider"}, {"name": "wall3", "children": [9], "mesh": 3, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 0.0, 10.0]}, {"extensions": {"HF_colliders": {"object_id": 2, "name": "wall3_collider"}}, "name": "wall3_collider"}, {"name": "wall4", "children": [11], "mesh": 4, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 0.0, -10.0]}, {"extensions": {"HF_colliders": {"object_id": 2, "name": "wall4_collider"}}, "name": "wall4_collider"}, {"name": "cube0", "children": [13], "mesh": 5, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [6.249819989746982, 0.5, 1.2164036271038103]}, {"extensions": {"HF_colliders": {"object_id": 3, "name": "cube0_collider"}}, "name": "cube0_collider"}, {"extensions": {"HF_actuators": {"object_id": 0, "name": "actuator"}, "HF_rigid_bodies": {"object_id": 0, "name": "physics_component"}}, "extras": {"is_actor": true}, "name": "actor", "children": [15, 16, 17, 18, 21, 25, 27], "mesh": 6, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 0.7, 0.0]}, {"extensions": {"HF_colliders": {"object_id": 4, "name": "actor_collider"}}, "name": "actor_collider"}, {"name": "camera", "camera": 0, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [0.0, 0.75, 0.0]}, {"extensions": {"HF_state_sensors": {"object_id": 0, "name": "state_sensor_00"}}, "name": "state_sensor_00"}, {"extensions": {"HF_reward_functions": {"object_id": 0, "name": "reward_function_00"}}, "name": "reward_function_00", "children": [19, 20]}, {"extensions": {"HF_reward_functions": {"object_id": 1, "name": "reward_function_01"}}, "name": "reward_function_01"}, {"extensions": {"HF_reward_functions": {"object_id": 2, "name": "reward_function_02"}}, "name": "reward_function_02"}, {"extensions": {"HF_reward_functions": {"object_id": 3, "name": "reward_function_03"}}, "name": "reward_function_03", "children": [22, 23]}, {"extensions": {"HF_reward_functions": {"object_id": 4, "name": "reward_function_04"}}, "name": "reward_function_04"}, {"extensions": {"HF_reward_functions": {"object_id": 5, "name": "reward_function_05"}}, "name": "reward_function_05", "children": [24]}, {"extensions": {"HF_reward_functions": {"object_id": 4, "name": "reward_function_06"}}, "name": "reward_function_06"}, {"extensions": {"HF_reward_functions": {"object_id": 5, "name": "reward_function_07"}}, "name": "reward_function_07", "children": [26]}, {"extensions": {"HF_reward_functions": {"object_id": 6, "name": "reward_function_08"}}, "name": "reward_function_08"}, {"extensions": {"HF_reward_functions": {"object_id": 7, "name": "reward_function_09"}}, "name": "reward_function_09"}, {"name": "cube", "children": [29], "mesh": 7, "rotation": [0.0, 0.0, 0.0, 1.0], "scale": [1.0, 1.0, 1.0], "translation": [7.396770943882498, 0.5, 6.940498761529955]}, {"extensions": {"HF_colliders": {"object_id": 3, "name": "cube_collider"}}, "name": "cube_collider"}], "scene": 0, "scenes": [{"nodes": [0]}], "extensionsUsed": ["KHR_lights_punctual", "HF_reward_functions", "HF_state_sensors", "HF_config", "HF_rigid_bodies", "HF_colliders", "HF_actuators"]}