{
  "Rigid": {
    "toy_car": [
      {
        "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_0",
        "default_pos": [
          0.15580403446761093,
          -0.20025764720746708,
          0.7833
        ],
        "default_ori": [
          0.9479555566529207,
          0.0,
          0.0,
          0.3184026736867194
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.35,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "toy_car",
        "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": "cat0_1",
        "default_pos": [
          0.04781366650590374,
          -0.14602291101362055,
          0.7845
        ],
        "default_ori": [
          0.9850451269882625,
          0.0,
          0.0,
          -0.17229654029224686
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.045,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "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_2",
        "default_pos": [
          -0.13634202887415064,
          -0.21357246710077518,
          0.785292447548888
        ],
        "default_ori": [
          0.9992778391426187,
          -0.00322799384568614,
          0.019004225583810565,
          0.03274476544656713
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.45,
          "friction": 0.3,
          "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": "cat1_0",
        "default_pos": [
          -0.3882016199687571,
          -0.21791092845480237,
          0.7719
        ],
        "default_ori": [
          0.7071030343274787,
          -0.0023019219953338372,
          0.7071030343274787,
          0.0023019219953338372
        ],
        "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": "cat1_1",
        "default_pos": [
          -0.20848863356320027,
          -0.17019438050949431,
          0.765900020095998
        ],
        "default_ori": [
          0.8959329911333677,
          -8.960661672541672e-05,
          -4.439204026652043e-05,
          0.44418922251538057
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.03,
          "friction": 0.32,
          "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": "cat2_0",
        "default_pos": [
          0.33886947409683715,
          -0.154888074553168,
          0.7662885516514121
        ],
        "default_ori": [
          0.9999194143680301,
          -0.005804113533682414,
          0.00033335016848541144,
          0.011285650785355901
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "action_camera",
        "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": "cat2_1",
        "default_pos": [
          0.1660969314253699,
          -0.0702788655171191,
          0.765
        ],
        "default_ori": [
          0.9957468286288086,
          8.089824222903345e-05,
          0.00020845958818045202,
          0.09213144564015435
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.06,
          "friction": 0.45,
          "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": "cat2_2",
        "default_pos": [
          -0.36402367986685213,
          -0.14553362736102513,
          0.7662885516514121
        ],
        "default_ori": [
          0.9053276520998645,
          -0.005081595609493831,
          0.0028242241958239835,
          -0.4246740438113684
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "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"
  }
}