| { |
| "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": { |
| "breakfast_table_uhrsex_0": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 1.4401384592056274, |
| -9.161848068237305, |
| 0.5878924131393433 |
| ], |
| "ori": [ |
| -0.0001132213874370791, |
| 2.18487111851573e-05, |
| 0.7071110606193542, |
| 0.7071024775505066 |
| ] |
| }, |
| "non_kin": {} |
| }, |
| "plate_96": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 1.4427403211593628, |
| -9.28253173828125, |
| 0.8378003239631653 |
| ], |
| "ori": [ |
| 0.03883562982082367, |
| 0.030715715140104294, |
| 0.001152165001258254, |
| 0.9987727999687195 |
| ], |
| "lin_vel": [ |
| 0.0019016510341316462, |
| -0.0032513639889657497, |
| -0.026609603315591812 |
| ], |
| "ang_vel": [ |
| -0.10649023205041885, |
| -0.36373114585876465, |
| -0.03158505633473396 |
| ] |
| }, |
| "non_kin": { |
| "Temperature": { |
| "temperature": 23.0 |
| } |
| } |
| }, |
| "plate_97": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 1.4453071355819702, |
| -9.280674934387207, |
| 0.8146604895591736 |
| ], |
| "ori": [ |
| 0.03994348272681236, |
| -0.007953855209052563, |
| 0.0006929917144589126, |
| 0.9991700649261475 |
| ], |
| "lin_vel": [ |
| 0.0017751266714185476, |
| -0.00494000967592001, |
| -0.013490358367562294 |
| ], |
| "ang_vel": [ |
| -0.08369729667901993, |
| -0.02844058722257614, |
| -0.022242318838834763 |
| ] |
| }, |
| "non_kin": { |
| "Temperature": { |
| "temperature": 23.0 |
| } |
| } |
| }, |
| "plate_98": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 1.4449012279510498, |
| -9.282971382141113, |
| 0.7912807464599609 |
| ], |
| "ori": [ |
| -9.734637569636106e-05, |
| -6.767699960619211e-05, |
| 2.0569887055899017e-06, |
| 1.0000001192092896 |
| ], |
| "lin_vel": [ |
| 0.0007458262844011188, |
| -0.0016181048704311252, |
| -0.0014465486165136099 |
| ], |
| "ang_vel": [ |
| 0.015675554051995277, |
| -0.0028174591716378927, |
| -0.017426425591111183 |
| ] |
| }, |
| "non_kin": { |
| "Temperature": { |
| "temperature": 23.0 |
| } |
| } |
| }, |
| "chopping_board_99": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 1.4436450004577637, |
| -9.281355857849121, |
| 0.7730553150177002 |
| ], |
| "ori": [ |
| -9.585794759914279e-05, |
| -6.411681533791125e-05, |
| -8.271330784737074e-07, |
| 1.0 |
| ], |
| "lin_vel": [ |
| 0.0003539506869856268, |
| 0.00025560532230883837, |
| -0.00030722832889296114 |
| ], |
| "ang_vel": [ |
| 0.00027668607071973383, |
| -0.003208510810509324, |
| -0.00011068697494920343 |
| ] |
| }, |
| "non_kin": {} |
| }, |
| "robot_hgutxs": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 1.4436472654342651, |
| -9.771363258361816, |
| 0.7449853420257568 |
| ], |
| "ori": [ |
| 0.0, |
| -3.841705620288849e-09, |
| 0.7071067690849304, |
| 0.7071067690849304 |
| ], |
| "lin_vel": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "ang_vel": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "joint_pos": [ |
| -5.318407420418225e-05, |
| 1.8792981791193597e-05, |
| -2.6135101506952196e-05, |
| -0.0698276162147522, |
| 2.813532955769915e-05, |
| 0.08141624927520752, |
| -6.296612264122814e-05, |
| 0.01997186988592148, |
| 0.01967586576938629 |
| ], |
| "joint_vel": [ |
| 0.019407859072089195, |
| 0.011673974804580212, |
| 0.015051824040710926, |
| 0.0003714013146236539, |
| 0.03190779313445091, |
| -1.0626332759857178, |
| -0.3274088203907013, |
| 0.008875580504536629, |
| -0.19988414645195007 |
| ], |
| "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": [ |
| [ |
| -8.918344246922061e-05, |
| 0.0018513946561142802 |
| ], |
| [ |
| 0.00010684131848393008, |
| -0.0018060206202790141 |
| ], |
| [ |
| -8.44895766931586e-05, |
| 0.0018122791079804301 |
| ], |
| [ |
| 6.526708602905273e-05, |
| -0.0018864868907257915 |
| ], |
| [ |
| 7.040797936497256e-05, |
| -0.0018540768651291728 |
| ] |
| ], |
| "current_idx": 4, |
| "fully_filled": true |
| } |
| } |
| }, |
| "non_kin": {} |
| }, |
| "goal_region__chopping_board_99": { |
| "is_asleep": false, |
| "root_link": { |
| "pos": [ |
| 0.8866793513298035, |
| -9.281332015991211, |
| 0.7731574773788452 |
| ], |
| "ori": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| }, |
| "non_kin": {}, |
| "radius": 0.09182209521532059, |
| "height": -1, |
| "size": -1 |
| } |
| } |
| } |
| }, |
| "init_info": { |
| "class_module": "omnigibson.scenes.scene_base", |
| "class_name": "Scene", |
| "args": { |
| "scene_file": null |
| } |
| }, |
| "objects_info": { |
| "init_info": { |
| "breakfast_table_uhrsex_0": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "breakfast_table_uhrsex_0", |
| "category": "breakfast_table", |
| "model": "uhrsex", |
| "scale": [ |
| 1.2722396850585938, |
| 1.1470935344696045, |
| 1.7314584255218506 |
| ], |
| "fixed_base": true, |
| "expected_file_hash": "8630bb7cbd0347dd4bf5b63379a41c4e" |
| } |
| }, |
| "plate_96": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "plate_96", |
| "category": "plate", |
| "model": "lixwwc", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "fixed_base": false, |
| "expected_file_hash": "bad08ea3ed8b79fbbe0a375a6fb0aa8e" |
| } |
| }, |
| "plate_97": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "plate_97", |
| "category": "plate", |
| "model": "lixwwc", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "fixed_base": false, |
| "expected_file_hash": "bad08ea3ed8b79fbbe0a375a6fb0aa8e" |
| } |
| }, |
| "plate_98": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "plate_98", |
| "category": "plate", |
| "model": "lixwwc", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "fixed_base": false, |
| "expected_file_hash": "bad08ea3ed8b79fbbe0a375a6fb0aa8e" |
| } |
| }, |
| "chopping_board_99": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "chopping_board_99", |
| "category": "chopping_board", |
| "model": "mwmzzv", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "fixed_base": false, |
| "expected_file_hash": "8d7616b9bc9de56cb91427125281a12d" |
| } |
| }, |
| "robot_hgutxs": { |
| "class_module": "omnigibson.robots.franka", |
| "class_name": "FrankaPanda", |
| "args": { |
| "name": "robot_hgutxs", |
| "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": true, |
| "reset_joint_pos": [ |
| -2.0676372514571995e-05, |
| -1.2999236583709717, |
| -4.048299160785973e-05, |
| -2.8700380325317383, |
| -2.4520977603970096e-05, |
| 2.0001144409179688, |
| 0.7499675750732422, |
| 0.039999958127737045, |
| 0.039999958127737045 |
| ], |
| "obs_modalities": [ |
| "rgb" |
| ], |
| "expected_file_hash": "9ddd461281d1c875d2ae552f61751c3f" |
| } |
| }, |
| "goal_region__chopping_board_99": { |
| "class_module": "omnigibson.objects.primitive_object", |
| "class_name": "PrimitiveObject", |
| "args": { |
| "name": "goal_region__chopping_board_99", |
| "primitive_type": "Sphere", |
| "relative_prim_path": "/goal_region__chopping_board_99", |
| "category": "goal_region_marker", |
| "fixed_base": true, |
| "visual_only": true, |
| "rgba": [ |
| 0.1, |
| 0.8, |
| 0.2, |
| 1.0 |
| ], |
| "radius": 0.09182209288887648 |
| } |
| } |
| } |
| } |
| } |