{
  "Rigid": {
    "garage": [
      {
        "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_0",
        "default_pos": [
          -0.18274078785737688,
          -0.1326232392265764,
          0.793210592842227
        ],
        "default_ori": [
          -0.7014807893375886,
          0.7124732837183005,
          0.01699241159752419,
          0.004216648678284529
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.25,
          "friction": 0.65,
          "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": [
          0.2106767580714263,
          -0.21129685391672043,
          0.793210592842227
        ],
        "default_ori": [
          -0.6977431385435373,
          0.7063529086234602,
          0.09472323127625702,
          -0.07244025504632456
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.25,
          "friction": 0.65,
          "type": "rigid"
        },
        "visual": {}
      }
    ],
    "pen": [
      {
        "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_0",
        "default_pos": [
          -0.42430157466447127,
          -0.1525356205398109,
          0.7659
        ],
        "default_ori": [
          -0.46385674934408194,
          0.0,
          0.0,
          0.885910218977037
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.03,
          "friction": 0.32,
          "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": "cat1_1",
        "default_pos": [
          0.30373486922073595,
          -0.07652649502939207,
          0.7731
        ],
        "default_ori": [
          0.7051989745210869,
          0.7051989745210869,
          -0.05190767124816352,
          -0.05190767124816352
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.018,
          "friction": 0.32,
          "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": "cat2_0",
        "default_pos": [
          0.1476639341480802,
          -0.10465308180341373,
          0.7881997980244625
        ],
        "default_ori": [
          0.9717763004612338,
          -0.00019428405169930816,
          -4.747226195906751e-05,
          0.23590417940759273
        ],
        "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": "cat2_1",
        "default_pos": [
          -0.08675702466040369,
          -0.12627379030319158,
          0.7881997980244625
        ],
        "default_ori": [
          0.9889317353876518,
          -0.00019774139082997922,
          -2.997083170075807e-05,
          0.14837109807256552
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.085,
          "friction": 0.32,
          "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": [
          -0.03322089403474611,
          -0.1797799943656444,
          0.7662885516514121
        ],
        "default_ori": [
          0.9979701618183353,
          -0.00581359991000219,
          3.020485270842073e-05,
          0.06341732621326086
        ],
        "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"
  }
}