{
  "Rigid": {
    "test_tube": [
      {
        "category": "test_tube",
        "category_idx": 2,
        "group": null,
        "xlim": [
          [
            -0.4,
            -0.15
          ],
          [
            0.15,
            0.4
          ]
        ],
        "ylim": [
          -0.25,
          -0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": "side",
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "tube0",
        "default_pos": [
          0.18990338348373823,
          -0.052049652772630246,
          0.7808752236133516
        ],
        "default_ori": [
          0.9995393239974606,
          0.018536043050799117,
          0.017654260561367836,
          -0.016305887732651007
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.06,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "test_tube",
        "category_idx": 2,
        "group": null,
        "xlim": [
          [
            -0.4,
            -0.15
          ],
          [
            0.15,
            0.4
          ]
        ],
        "ylim": [
          -0.25,
          -0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": "side",
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "tube1",
        "default_pos": [
          0.3792706320660057,
          -0.06870347858663906,
          0.7808752236133516
        ],
        "default_ori": [
          0.9436580221574643,
          0.011297661247640207,
          0.022969994738425932,
          0.329930719106168
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.06,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      },
      {
        "category": "test_tube",
        "category_idx": 2,
        "group": null,
        "xlim": [
          [
            -0.4,
            -0.15
          ],
          [
            0.15,
            0.4
          ]
        ],
        "ylim": [
          -0.25,
          -0.05
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 60,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": "side",
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "tube2",
        "default_pos": [
          -0.25449650063845103,
          -0.210970893512316,
          0.7808752236133516
        ],
        "default_ori": [
          0.9756095004306071,
          0.02172202261547659,
          0.013542951725619853,
          -0.21801569865858633
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "mass": 0.06,
          "friction": 0.45,
          "type": "rigid"
        },
        "visual": {}
      }
    ]
  },
  "Geometry": {
    "test_tube_slot": [
      {
        "category": "test_tube_slot",
        "category_idx": 0,
        "group": null,
        "xlim": [
          0.0,
          0.0
        ],
        "ylim": [
          -0.025,
          0.025
        ],
        "zlim": null,
        "qpos": [
          1,
          0,
          0,
          0
        ],
        "rotate_deg": 15,
        "rotate_rand": true,
        "relative_plane": "Table",
        "place_tag": null,
        "margin": 0.01,
        "check_mode": "bbox",
        "need_check_stable": true,
        "label": "slot",
        "default_pos": [
          0.0,
          0.004885196931404025,
          0.795
        ],
        "default_ori": [
          0.9994922030918163,
          0.0,
          0.0,
          -0.03186433678373734
        ],
        "scale": [
          1.0,
          1.0,
          1.0
        ],
        "physics": {
          "size": [
            0.20499995824571268,
            0.09599998956918919,
            0.06
          ],
          "mass": 0.0,
          "friction": 0.0,
          "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"
  }
}