{
  "Rigid": {
    "toy_car": [
      {
        "category": "toy_car",
        "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": "cat0_0",
        "default_pos": [
          0.34456553747263946,
          -0.18477736541701115,
          0.7863
        ],
        "default_ori": [
          0.9756025193960985,
          0.0,
          0.0,
          -0.21954435576435405
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.35,
          "friction": 0.42,
          "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_1",
        "default_pos": [
          0.006188583123698455,
          -0.10904314178769246,
          0.785292447548888
        ],
        "default_ori": [
          0.999664444810976,
          -0.0029340249620007177,
          0.019051824895020015,
          0.017303677252396652
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.45,
          "friction": 0.3,
          "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": "cat1_0",
        "default_pos": [
          0.04401555278023844,
          -0.20823079618754212,
          0.7785880424927307
        ],
        "default_ori": [
          0.7665521507903911,
          0.025358206686591965,
          0.6384853760974101,
          0.06396237942739746
        ],
        "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": "cat1_1",
        "default_pos": [
          0.4158960368764808,
          -0.11776808068535428,
          0.7785880424927307
        ],
        "default_ori": [
          0.706470011817986,
          -0.17889756120220013,
          0.6134348186502916,
          0.3042918143251371
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.045,
          "friction": 0.25,
          "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": [
          -0.23256872921813623,
          -0.10878374238102542,
          0.7719
        ],
        "default_ori": [
          0.7070610706213231,
          -0.008040050486688662,
          0.7070610706213231,
          0.008040050486688662
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.008,
          "friction": 0.3,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "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_1",
        "default_pos": [
          -0.33024118238693945,
          -0.2268061823924539,
          0.772
        ],
        "default_ori": [
          -0.4031467278214532,
          0.4031467278214532,
          -0.5809240189963358,
          0.5809240189963358
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.008,
          "friction": 0.3,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "pen",
        "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": "cat2_2",
        "default_pos": [
          0.15641312824583178,
          -0.1624923995524054,
          0.7731
        ],
        "default_ori": [
          0.6489861362456381,
          0.6489861362456381,
          -0.2807436463412095,
          -0.2807436463412095
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.018,
          "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"
  }
}