{
  "Rigid": {
    "garage": [
      {
        "category": "garage",
        "category_idx": 15,
        "group": null,
        "xlim": [
          -0.43,
          0.43
        ],
        "ylim": [
          -0.23,
          0.0
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "cat0_0",
        "default_pos": [
          -0.41462708785087277,
          -0.17891377591424173,
          0.7944426144212695
        ],
        "default_ori": [
          0.6536931141540084,
          -0.6141907352633325,
          -0.28992349974091375,
          0.3337655127815064
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.04,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "garage",
        "category_idx": 14,
        "group": null,
        "xlim": [
          -0.43,
          0.43
        ],
        "ylim": [
          -0.23,
          0.0
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "cat0_1",
        "default_pos": [
          -0.0655908962471348,
          -0.19122315609449622,
          0.793210592842227
        ],
        "default_ori": [
          -0.6523169491575636,
          0.6702453651124083,
          -0.24223557255195244,
          0.2580226264836694
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.25,
          "friction": 0.65,
          "type": "rigid"
        },
        "visual": {}
      }
    ],
    "action_camera": [
      {
        "category": "action_camera",
        "category_idx": 1,
        "group": null,
        "xlim": [
          -0.43,
          0.43
        ],
        "ylim": [
          -0.23,
          0.0
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "cat1_0",
        "default_pos": [
          -0.22686892538153777,
          -0.1028560219964695,
          0.7662885516514121
        ],
        "default_ori": [
          0.9730313403768507,
          -0.005735631763095875,
          -0.0009494127263052196,
          0.23059967863850706
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "action_camera",
        "category_idx": 1,
        "group": null,
        "xlim": [
          -0.43,
          0.43
        ],
        "ylim": [
          -0.23,
          0.0
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "cat1_1",
        "default_pos": [
          0.038867337128325116,
          -0.11270001357355004,
          0.7662885516514121
        ],
        "default_ori": [
          0.8908987326834388,
          -0.005348422789195076,
          -0.0022788659273251183,
          0.4541647820414922
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "type": "rigid"
        },
        "visual": {}
      }
    ],
    "pen": [
      {
        "category": "pen",
        "category_idx": 1,
        "group": null,
        "xlim": [
          -0.43,
          0.43
        ],
        "ylim": [
          -0.23,
          0.0
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "cat2_0",
        "default_pos": [
          0.2041799362390157,
          -0.10317919255979785,
          0.7719
        ],
        "default_ori": [
          0.70153983852307,
          -0.0885542487124416,
          0.70153983852307,
          0.0885542487124416
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.008,
          "friction": 0.3,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "pen",
        "category_idx": 4,
        "group": null,
        "xlim": [
          -0.43,
          0.43
        ],
        "ylim": [
          -0.23,
          0.0
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "cat2_1",
        "default_pos": [
          -0.4189485817855537,
          -0.06424007883632224,
          0.765900020095998
        ],
        "default_ori": [
          0.9742918961096821,
          -9.742242216245344e-05,
          2.25581617159023e-05,
          -0.22528934989253563
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.03,
          "friction": 0.32,
          "type": "rigid"
        },
        "visual": {}
      }
    ]
  },
  "Geometry": {
    "basket": [
      {
        "category": "basket",
        "category_idx": 2,
        "group": null,
        "xlim": [
          -0.28,
          -0.28
        ],
        "ylim": [
          0.05,
          0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 0,
        "rotate_rand": false,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "basket0",
        "default_pos": [
          -0.28,
          0.05,
          0.8036
        ],
        "default_ori": [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 1.8,
          "friction": 0.45,
          "type": "geometry"
        },
        "visual": {}
      },
      {
        "category": "basket",
        "category_idx": 3,
        "group": null,
        "xlim": [
          -0.0,
          0.0
        ],
        "ylim": [
          0.05,
          0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 0,
        "rotate_rand": false,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "basket1",
        "default_pos": [
          0.0,
          0.05,
          0.8036
        ],
        "default_ori": [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 1.2,
          "friction": 0.45,
          "type": "geometry"
        },
        "visual": {}
      },
      {
        "category": "basket",
        "category_idx": 4,
        "group": null,
        "xlim": [
          0.28,
          0.28
        ],
        "ylim": [
          0.05,
          0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 0,
        "rotate_rand": false,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "basket2",
        "default_pos": [
          0.28,
          0.05,
          0.8036
        ],
        "default_ori": [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 1.2,
          "friction": 0.45,
          "type": "geometry"
        },
        "visual": {}
      }
    ],
    "camera_stand": [
      {
        "category": "camera_stand",
        "category_idx": 0,
        "group": null,
        "xlim": [
          0.0,
          0.0
        ],
        "ylim": [
          -0.47,
          -0.47
        ],
        "zlim": [
          0.715,
          0.715
        ],
        "qpos": [
          0.707,
          -0.707,
          0.0,
          0.0
        ],
        "rotate_deg": 0,
        "rotate_rand": false,
        "relative_plane": "Ground",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "camera_stand",
        "default_pos": [
          0.0,
          -0.47,
          0.765
        ],
        "default_ori": [
          0.707,
          -0.707,
          0.0,
          0.0
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "type": "geometry"
        },
        "visual": {}
      }
    ]
  },
  "Room": {
    "default": "Simple_Room_nolight",
    "default_pos": [
      0.0,
      0.0,
      0.0
    ],
    "default_rot": [
      1.0,
      0.0,
      0.0,
      0.0
    ],
    "scale": [
      0.5,
      0.5,
      0.5
    ]
  },
  "Table": {
    "default": "material_0122",
    "scale": [
      1.4,
      1.1,
      0.05
    ],
    "default_pos": [
      0.0,
      -0.05,
      0.74
    ],
    "default_ori": [
      1.0,
      0.0,
      0.0,
      0.0
    ]
  },
  "Ground": {
    "geometry": "cube",
    "thickness": 0.1,
    "axis": "Z",
    "default_pos": [
      0.0,
      0.0,
      0.0
    ],
    "materials": {
      "type": "mdl",
      "default": "material_0564",
      "random": false
    },
    "physics_material": {
      "static_friction": 1.0,
      "dynamic_friction": 1.0,
      "restitution": 0.0,
      "friction_combine_mode": "multiply",
      "restitution_combine_mode": "multiply",
      "compliant_contact_stiffness": 0.0,
      "compliant_contact_damping": 0.0
    }
  },
  "Background": {
    "intensity": 1000,
    "category_name": "brown_photostudio_02_4k.hdr"
  }
}