{
  "Rigid": {
    "toy_car": [
      {
        "category": "toy_car",
        "category_idx": 2,
        "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": [
          -0.20180932072830773,
          -0.21540904196666302,
          0.785292447548888
        ],
        "default_ori": [
          0.9416086708957919,
          -0.008873978561654018,
          0.017112365084799134,
          0.3361570025442759
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.45,
          "friction": 0.3,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "toy_car",
        "category_idx": 3,
        "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": [
          -0.0683417003382486,
          -0.18288523336588716,
          0.7833
        ],
        "default_ori": [
          0.9718526238662845,
          0.0,
          0.0,
          -0.23558963789653076
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.35,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      }
    ],
    "action_camera": [
      {
        "category": "action_camera",
        "category_idx": 0,
        "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": [
          0.26015533728954954,
          -0.12561346743887375,
          0.7881997980244625
        ],
        "default_ori": [
          0.9133453369668301,
          -0.00018254650093120993,
          -8.171097477072188e-05,
          0.40718577509662524
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.085,
          "friction": 0.32,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "action_camera",
        "category_idx": 0,
        "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": [
          0.39726768061581363,
          -0.10974854826527035,
          0.7881997980244625
        ],
        "default_ori": [
          0.9993794823178171,
          -0.00019988601340962858,
          6.744630710094807e-06,
          -0.03522229865104625
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.085,
          "friction": 0.32,
          "type": "rigid"
        },
        "visual": {}
      }
    ],
    "watch": [
      {
        "category": "watch",
        "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": [
          -0.37141602080703623,
          -0.15166639080842076,
          0.7785880424927307
        ],
        "default_ori": [
          0.7313452058547881,
          -0.12202812593029025,
          0.6272286270719412,
          0.2383853513465256
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.045,
          "friction": 0.25,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "watch",
        "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_1",
        "default_pos": [
          0.06011236082813204,
          -0.19249570991566575,
          0.7785880424927307
        ],
        "default_ori": [
          0.7663800750986388,
          0.13247923448673155,
          0.6251046844860633,
          -0.06599216889293641
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.045,
          "friction": 0.25,
          "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"
  }
}