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| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "walls_zlekao_0", |
| "category": "walls", |
| "model": "zlekao", |
| "scale": [ |
| 0.9997971057891846, |
| 0.9999727010726929, |
| 1.0000176429748535 |
| ], |
| "fixed_base": true, |
| "visual_only": false, |
| "in_rooms": "", |
| "bddl_object_scope": null, |
| "expected_file_hash": "fbd5e498de247d1e3ca4349e1f9cb0ac" |
| } |
| }, |
| "robot_yzcoyx": { |
| "class_module": "omnigibson.robots.franka", |
| "class_name": "FrankaPanda", |
| "args": { |
| "name": "robot_yzcoyx", |
| "fixed_base": true, |
| "controller_config": { |
| "arm_0": { |
| "name": "OperationalSpaceController" |
| }, |
| "gripper_0": { |
| "name": "MultiFingerGripperController" |
| } |
| }, |
| "action_type": "continuous", |
| "action_normalize": true, |
| "obs_modalities": [ |
| "rgb" |
| ], |
| "expected_file_hash": "9ddd461281d1c875d2ae552f61751c3f" |
| } |
| }, |
| "target_bag_of_rice_ep1_1": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "target_bag_of_rice_ep1_1", |
| "category": "bag_of_rice", |
| "model": "eddcjz", |
| "expected_file_hash": "499c69d791024fe817e33f5b63fc5686", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "in_rooms": [ |
| "living_room_0" |
| ] |
| } |
| }, |
| "stack_bag_of_ice_cream_ep1_1": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "stack_bag_of_ice_cream_ep1_1", |
| "category": "bag_of_ice_cream", |
| "model": "himfgn", |
| "expected_file_hash": "db0067932b6e673ed3e5b713e4de57e4", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "in_rooms": [ |
| "living_room_0" |
| ] |
| } |
| }, |
| "stack_bag_of_ice_cream_ep1_2": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "stack_bag_of_ice_cream_ep1_2", |
| "category": "bag_of_ice_cream", |
| "model": "himfgn", |
| "expected_file_hash": "db0067932b6e673ed3e5b713e4de57e4", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "in_rooms": [ |
| "living_room_0" |
| ] |
| } |
| }, |
| "stack_bag_of_ice_cream_ep1_3": { |
| "class_module": "omnigibson.objects.dataset_object", |
| "class_name": "DatasetObject", |
| "args": { |
| "name": "stack_bag_of_ice_cream_ep1_3", |
| "category": "bag_of_ice_cream", |
| "model": "himfgn", |
| "expected_file_hash": "db0067932b6e673ed3e5b713e4de57e4", |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "in_rooms": [ |
| "living_room_0" |
| ] |
| } |
| }, |
| "goal_region__target_bag_of_rice_ep1_1": { |
| "class_module": "omnigibson.objects.primitive_object", |
| "class_name": "PrimitiveObject", |
| "args": { |
| "name": "goal_region__target_bag_of_rice_ep1_1", |
| "primitive_type": "Sphere", |
| "relative_prim_path": "/goal_region__target_bag_of_rice_ep1_1", |
| "category": "goal_region_marker", |
| "fixed_base": true, |
| "visual_only": true, |
| "rgba": [ |
| 0.1, |
| 0.8, |
| 0.2, |
| 1.0 |
| ], |
| "radius": 0.09571101665496826 |
| } |
| } |
| } |
| } |
| } |
