6fam-base / clutter_pickup /task_0010 /base /scene_ep1.json
wzf1015's picture
Regenerate broken lid_transport base/ scenes from env/; predicate fix accepts role-prefixed task-object names
658f672 verified
{
"versions": {
"omnigibson": {
"version": "3.7.2",
"git_hash": "88454bd04f75dc57c00ab1f1a00bcde1ff505950"
},
"bddl": {
"version": "3.7.0",
"git_hash": "88454bd04f75dc57c00ab1f1a00bcde1ff505950"
},
"behavior-1k-assets": {
"version": "3.7.2rc1"
},
"omnigibson-robot-assets": {
"version": null,
"git_hash": "88454bd04f75dc57c00ab1f1a00bcde1ff505950"
}
},
"metadata": {},
"state": {
"pos": [
0.0,
0.0,
0.0
],
"ori": [
0.0,
0.0,
0.0,
1.0
],
"registry": {
"system_registry": {},
"object_registry": {
"coffee_table_fqluyq_0": {
"is_asleep": false,
"root_link": {
"pos": [
-0.4762629568576813,
-1.219602108001709,
0.2838321328163147
],
"ori": [
6.776284580667143e-21,
-3.626609429430161e-11,
0.9999969005584717,
-0.002500130096450448
]
},
"non_kin": {}
},
"mug_43": {
"is_asleep": true,
"root_link": {
"pos": [
-0.4660705626010895,
-1.363909363746643,
0.460578978061676
],
"ori": [
-9.959423914551735e-05,
-9.8800053820014e-05,
0.03833606094121933,
0.9992650151252747
],
"lin_vel": [
0.0,
0.0,
0.0
],
"ang_vel": [
0.0,
0.0,
0.0
]
},
"non_kin": {
"Temperature": {
"temperature": 23.0
}
}
},
"vase_45": {
"is_asleep": true,
"root_link": {
"pos": [
-0.528390645980835,
-1.0105243921279907,
0.4581161439418793
],
"ori": [
0.00023042166139930487,
-9.505962952971458e-05,
-0.0015410679625347257,
0.9999989867210388
],
"lin_vel": [
0.0,
0.0,
0.0
],
"ang_vel": [
0.0,
0.0,
0.0
]
},
"non_kin": {
"Temperature": {
"temperature": 23.0
}
}
},
"vase_46": {
"is_asleep": true,
"root_link": {
"pos": [
-0.5790190696716309,
-1.3696972131729126,
0.5254279971122742
],
"ori": [
1.4961638953536749e-05,
-8.845701813697815e-06,
0.009984452277421951,
0.9999501705169678
],
"lin_vel": [
0.0,
0.0,
0.0
],
"ang_vel": [
0.0,
0.0,
0.0
]
},
"non_kin": {
"Temperature": {
"temperature": 23.0
}
}
},
"teacup_47": {
"is_asleep": true,
"root_link": {
"pos": [
-0.38455715775489807,
-1.0907691717147827,
0.47199079394340515
],
"ori": [
8.349190466105938e-06,
9.849929483607411e-06,
-0.04064458608627319,
0.9991737604141235
],
"lin_vel": [
0.0,
0.0,
0.0
],
"ang_vel": [
0.0,
0.0,
0.0
]
},
"non_kin": {
"Temperature": {
"temperature": 23.0
}
}
},
"teacup_48": {
"is_asleep": false,
"root_link": {
"pos": [
-0.35753607749938965,
-1.2959342002868652,
0.4783622920513153
],
"ori": [
-3.187032416462898e-05,
5.9935846365988255e-05,
0.07770611345767975,
0.9969763159751892
],
"lin_vel": [
-6.121952901594341e-05,
-0.00024626226513646543,
-0.00011263773922109976
],
"ang_vel": [
0.003341962117701769,
0.005875876639038324,
0.004209233447909355
]
},
"non_kin": {
"Temperature": {
"temperature": 23.0
}
}
},
"chalice_49": {
"is_asleep": true,
"root_link": {
"pos": [
-0.4993291199207306,
-1.2290003299713135,
0.4815593361854553
],
"ori": [
0.000972872949205339,
-0.0019051982089877129,
0.0007676165550947189,
0.9999974966049194
],
"lin_vel": [
0.0,
0.0,
0.0
],
"ang_vel": [
0.0,
0.0,
0.0
]
},
"non_kin": {
"Temperature": {
"temperature": 23.0
}
}
},
"robot_fvudpj": {
"is_asleep": false,
"root_link": {
"pos": [
-0.9817132353782654,
-1.218471884727478,
0.40444839000701904
],
"ori": [
0.0,
0.0,
0.0,
1.0000001192092896
],
"lin_vel": [
0.0,
0.0,
0.0
],
"ang_vel": [
0.0,
0.0,
0.0
]
},
"joint_pos": [
-1.8494052710593678e-05,
1.8588691091281362e-05,
3.113782440777868e-07,
-0.06981872767210007,
-6.982449849601835e-05,
0.08006270974874496,
-5.546644752030261e-05,
0.019976962357759476,
0.019572144374251366
],
"joint_vel": [
0.021235713735222816,
0.0016412861878052354,
0.011885651387274265,
0.004179622977972031,
-0.00995293352752924,
-0.548889696598053,
0.16506309807300568,
-0.0041749132797122,
0.19419583678245544
],
"controllers": {
"arm_0": {
"goal_is_valid": true,
"goal": {
"target": [
0.0,
0.0,
0.0,
-0.0697999894618988,
0.0,
0.0,
0.0
]
}
},
"gripper_0": {
"goal_is_valid": true,
"goal": {
"target": [
0.019999999552965164
]
},
"vel_filter": {
"past_samples": [
[
0.0007966160192154348,
0.03655358776450157
],
[
-0.0003681331581901759,
-0.005000754725188017
],
[
0.0011135637760162354,
0.009046643041074276
],
[
-0.00041864809463731945,
-0.002224445343017578
],
[
-0.0006520002498291433,
-0.022626442834734917
]
],
"current_idx": 4,
"fully_filled": true
}
}
},
"non_kin": {}
},
"goal_region__chalice_49": {
"is_asleep": false,
"root_link": {
"pos": [
-0.49910980463027954,
-0.7473504543304443,
0.48256629705429077
],
"ori": [
0.0,
0.0,
0.0,
1.0
]
},
"non_kin": {},
"radius": 0.036215778440237045,
"height": -1,
"size": -1
}
}
}
},
"init_info": {
"class_module": "omnigibson.scenes.scene_base",
"class_name": "Scene",
"args": {
"scene_file": null
}
},
"objects_info": {
"init_info": {
"coffee_table_fqluyq_0": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "coffee_table_fqluyq_0",
"category": "coffee_table",
"model": "fqluyq",
"scale": [
1.1711909770965576,
1.0265920162200928,
0.9481316208839417
],
"fixed_base": true,
"expected_file_hash": "a15cc46ad7b34ef17957c9665084ef00"
}
},
"mug_43": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "mug_43",
"category": "mug",
"model": "kitxam",
"scale": [
1.0,
1.0,
1.0
],
"fixed_base": false,
"expected_file_hash": "e3454f7ea09c1bbe6f5588c1040088bf"
}
},
"vase_45": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "vase_45",
"category": "vase",
"model": "bbduix",
"scale": [
1.0,
1.0,
1.0
],
"fixed_base": false,
"expected_file_hash": "ed5e3d444091d52db4d4ff07b3a635c8"
}
},
"vase_46": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "vase_46",
"category": "vase",
"model": "stqkvx",
"scale": [
1.0,
1.0,
1.0
],
"fixed_base": false,
"expected_file_hash": "c159a51537f9fd223db2a1a84d080aab"
}
},
"teacup_47": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "teacup_47",
"category": "teacup",
"model": "wopjex",
"scale": [
1.0,
1.0,
1.0
],
"fixed_base": false,
"expected_file_hash": "3fba85781047dd066d2ec067e1ec858a"
}
},
"teacup_48": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "teacup_48",
"category": "teacup",
"model": "cpozxi",
"scale": [
1.0,
1.0,
1.0
],
"fixed_base": false,
"expected_file_hash": "25a1d8c65c730a7a29ca2605139e7f91"
}
},
"chalice_49": {
"class_module": "omnigibson.objects.dataset_object",
"class_name": "DatasetObject",
"args": {
"name": "chalice_49",
"category": "chalice",
"model": "sfkezf",
"scale": [
1.0,
1.0,
1.0
],
"fixed_base": false,
"expected_file_hash": "ed1d14d84611ac96a3870d2ef7c65500"
}
},
"robot_fvudpj": {
"class_module": "omnigibson.robots.franka",
"class_name": "FrankaPanda",
"args": {
"name": "robot_fvudpj",
"fixed_base": true,
"controller_config": {
"arm_0": {
"name": "JointController",
"motor_type": "position",
"use_delta_commands": false,
"use_impedances": false
},
"gripper_0": {
"name": "MultiFingerGripperController",
"mode": "smooth"
}
},
"action_type": "continuous",
"action_normalize": false,
"reset_joint_pos": [
-2.0642017261707224e-05,
-1.2999274730682373,
-4.0322771383216605e-05,
-2.8700380325317383,
-2.4635462978039868e-05,
2.0001144409179688,
0.7499675750732422,
0.03999997302889824,
0.03999996930360794
],
"obs_modalities": [
"rgb"
],
"expected_file_hash": "9ddd461281d1c875d2ae552f61751c3f",
"grasping_mode": "assisted"
}
},
"goal_region__chalice_49": {
"class_module": "omnigibson.objects.primitive_object",
"class_name": "PrimitiveObject",
"args": {
"name": "goal_region__chalice_49",
"primitive_type": "Sphere",
"relative_prim_path": "/goal_region__chalice_49",
"category": "goal_region_marker",
"fixed_base": true,
"visual_only": true,
"rgba": [
0.1,
0.8,
0.2,
1.0
],
"radius": 0.03621577902883761
}
}
}
}
}