{
  "Rigid": {
    "seashell": [
      {
        "category": "seashell",
        "category_idx": 0,
        "group": null,
        "xlim": [
          -0.4,
          0.4
        ],
        "ylim": [
          -0.2,
          0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 20,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "target",
        "default_pos": [
          -0.1591847301167678,
          -0.0002085936270764194,
          0.7884783835175759
        ],
        "default_ori": [
          0.9737246349059008,
          -0.020368805713890208,
          -0.2178679027137975,
          0.06307950616683111
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.15,
          "friction": 0.65,
          "type": "rigid"
        },
        "visual": {}
      }
    ],
    "mini_fan": [
      {
        "category_idx": 2,
        "physics": {
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          0.10312187801594123,
          0.049962819066465665,
          0.8569091681740725
        ],
        "default_ori": [
          0.6927758980100908,
          0.6836406109621721,
          0.16904177323554467,
          0.15531242410368595
        ]
      }
    ],
    "garage": [
      {
        "category_idx": 5,
        "physics": {
          "mass": 0.35,
          "friction": 0.45,
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          0.3328410320008047,
          0.05370817530673418,
          0.8507055832992458
        ],
        "default_ori": [
          0.9984186945041469,
          -0.010361319327072297,
          -0.004434222207739652,
          -0.05507350724123188
        ]
      }
    ],
    "bowl": [
      {
        "category_idx": 1,
        "physics": {
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          -0.43824099423793106,
          0.006607458066449016,
          0.7652057499033325
        ],
        "default_ori": [
          0.9978033151367538,
          -0.004762015511100241,
          -0.0007229277797446515,
          0.06607075666133533
        ]
      }
    ],
    "jeans": [
      {
        "category_idx": 0,
        "physics": {
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          0.12040962060457797,
          -0.19217655766949632,
          0.7651007199819352
        ],
        "default_ori": [
          0.9941710307075189,
          0.00029825130921225565,
          -3.234421823411732e-05,
          -0.10781406078039107
        ]
      }
    ],
    "game_machine": [
      {
        "category_idx": 0,
        "physics": {
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          -0.44522027889845645,
          -0.19859587155505584,
          0.7689166712439107
        ],
        "default_ori": [
          0.9914635585057329,
          0.03569739771977301,
          0.004679968443100284,
          0.12531482692226542
        ]
      }
    ],
    "toothpaste": [
      {
        "category_idx": 0,
        "physics": {
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          -0.06149688000410213,
          -0.1959816293388928,
          0.7786688472111792
        ],
        "default_ori": [
          -0.6790442639305736,
          0.7163033711593566,
          -0.12602355902251747,
          0.09963147424395954
        ]
      }
    ],
    "office_mail": [
      {
        "category_idx": 0,
        "physics": {
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          0.41541391074923556,
          -0.11735138854000637,
          0.7655999377952247
        ],
        "default_ori": [
          0.99011575013948,
          -0.0010084875281494265,
          0.007128833401004256,
          0.1400677122429759
        ]
      }
    ],
    "tissue": [
      {
        "category_idx": 2,
        "physics": {
          "mass": 0.15,
          "friction": 0.45,
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          -0.2179457597147576,
          -0.16769108173794842,
          0.7829072436546988
        ],
        "default_ori": [
          0.9843836965101176,
          -0.0038279679733573125,
          -0.005864661576805131,
          0.1758968176257355
        ]
      }
    ],
    "sculpture": [
      {
        "category_idx": 1,
        "physics": {
          "mass": 3.2,
          "friction": 0.45,
          "type": "rigid"
        },
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "type": "cluttered",
        "clutter_idx": 0,
        "yaml_path": "Clutter/clutter.yml",
        "relative_plane": "Table",
        "default_pos": [
          -0.05026700337053555,
          0.04680987838558782,
          0.8335998185680182
        ],
        "default_ori": [
          0.9954251569122321,
          -9.524584036300803e-06,
          9.954537306643409e-05,
          0.09554447648220733
        ]
      }
    ]
  },
  "Geometry": {
    "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"
  }
}