{
  "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": [
              -0.47626158595085144,
              -1.2196123600006104,
              0.2742699980735779
            ],
            "ori": [
              3.3993265446952137e-07,
              -1.5883000514804735e-06,
              0.9999969005584717,
              -0.0025003792252391577
            ]
          },
          "non_kin": {}
        },
        "saucer_43": {
          "is_asleep": true,
          "root_link": {
            "pos": [
              -0.402560830116272,
              -0.9742323756217957,
              0.42489129304885864
            ],
            "ori": [
              0.005006290972232819,
              -0.00011735397856682539,
              -0.021800963208079338,
              0.9997498989105225
            ],
            "lin_vel": [
              0.0,
              0.0,
              0.0
            ],
            "ang_vel": [
              0.0,
              0.0,
              0.0
            ]
          },
          "non_kin": {
            "Temperature": {
              "temperature": 23.0
            }
          }
        },
        "saucer_44": {
          "is_asleep": true,
          "root_link": {
            "pos": [
              -0.5603496432304382,
              -1.0262706279754639,
              0.4248912036418915
            ],
            "ori": [
              0.004991948138922453,
              0.0003930396633222699,
              0.07994738221168518,
              0.9967867136001587
            ],
            "lin_vel": [
              0.0,
              0.0,
              0.0
            ],
            "ang_vel": [
              0.0,
              0.0,
              0.0
            ]
          },
          "non_kin": {
            "Temperature": {
              "temperature": 23.0
            }
          }
        },
        "goblet_45": {
          "is_asleep": true,
          "root_link": {
            "pos": [
              -0.4065834581851959,
              -1.451939582824707,
              0.5363046526908875
            ],
            "ori": [
              -3.0813971534371376e-06,
              -1.4951801858842373e-06,
              -0.040588218718767166,
              0.999176025390625
            ],
            "lin_vel": [
              0.0,
              0.0,
              0.0
            ],
            "ang_vel": [
              0.0,
              0.0,
              0.0
            ]
          },
          "non_kin": {
            "Temperature": {
              "temperature": 23.0
            }
          }
        },
        "goblet_46": {
          "is_asleep": true,
          "root_link": {
            "pos": [
              -0.5589240789413452,
              -1.4027470350265503,
              0.5363038778305054
            ],
            "ori": [
              -3.2314565032720566e-06,
              -1.666252501308918e-06,
              -0.05975884571671486,
              0.9982129335403442
            ],
            "lin_vel": [
              0.0,
              0.0,
              0.0
            ],
            "ang_vel": [
              0.0,
              0.0,
              0.0
            ]
          },
          "non_kin": {
            "Temperature": {
              "temperature": 23.0
            }
          }
        },
        "beaker_49": {
          "is_asleep": true,
          "root_link": {
            "pos": [
              -0.5000523328781128,
              -1.2168015241622925,
              0.4809683561325073
            ],
            "ori": [
              -3.582565113902092e-06,
              -1.3837125152349472e-06,
              0.0001029955456033349,
              1.0000001192092896
            ],
            "lin_vel": [
              0.0,
              0.0,
              0.0
            ],
            "ang_vel": [
              0.0,
              0.0,
              0.0
            ]
          },
          "non_kin": {
            "Temperature": {
              "temperature": 23.0
            }
          }
        },
        "robot_boaiwk": {
          "is_asleep": false,
          "root_link": {
            "pos": [
              -0.9817124009132385,
              -1.2184813022613525,
              0.3948897421360016
            ],
            "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": [
            -5.1094266382278875e-05,
            1.7420255971956067e-05,
            -2.463039527356159e-05,
            -0.06982632726430893,
            1.6684796719346195e-05,
            0.0813622921705246,
            -6.122647755546495e-05,
            0.01997263915836811,
            0.019661761820316315
          ],
          "joint_vel": [
            0.017811203375458717,
            0.011034857481718063,
            0.013833737000823021,
            0.0002680924953892827,
            0.029813822358846664,
            -0.9873951077461243,
            -0.34381380677223206,
            0.00961020402610302,
            -0.1737619936466217
          ],
          "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": [
                  [
                    8.180736767826602e-05,
                    -0.0018361954716965556
                  ],
                  [
                    -8.136033284245059e-05,
                    0.001838207128457725
                  ],
                  [
                    8.314847218571231e-05,
                    -0.0018493829993531108
                  ],
                  [
                    -8.136033284245059e-05,
                    0.0018496065167710185
                  ],
                  [
                    -8.337198960362002e-05,
                    0.001841336372308433
                  ]
                ],
                "current_idx": 4,
                "fully_filled": true
              }
            }
          },
          "non_kin": {}
        },
        "goal_region__beaker_49": {
          "is_asleep": false,
          "root_link": {
            "pos": [
              -0.5000413060188293,
              -0.7039244771003723,
              0.4871343672275543
            ],
            "ori": [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          },
          "non_kin": {},
          "radius": 0.03767894208431244,
          "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"
        }
      },
      "saucer_43": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
          "name": "saucer_43",
          "category": "saucer",
          "model": "mgbeah",
          "scale": [
            1.0,
            1.0,
            1.0
          ],
          "fixed_base": false,
          "expected_file_hash": "e2acc28fd26c22547b1ae0b08b353cbe"
        }
      },
      "saucer_44": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
          "name": "saucer_44",
          "category": "saucer",
          "model": "mgbeah",
          "scale": [
            1.0,
            1.0,
            1.0
          ],
          "fixed_base": false,
          "expected_file_hash": "e2acc28fd26c22547b1ae0b08b353cbe"
        }
      },
      "goblet_45": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
          "name": "goblet_45",
          "category": "goblet",
          "model": "nawrfs",
          "scale": [
            1.0,
            1.0,
            1.0
          ],
          "fixed_base": false,
          "expected_file_hash": "f1b7ce052448b568ef9ba426393292ce"
        }
      },
      "goblet_46": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
          "name": "goblet_46",
          "category": "goblet",
          "model": "nawrfs",
          "scale": [
            1.0,
            1.0,
            1.0
          ],
          "fixed_base": false,
          "expected_file_hash": "f1b7ce052448b568ef9ba426393292ce"
        }
      },
      "beaker_49": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
          "name": "beaker_49",
          "category": "beaker",
          "model": "sfvswx",
          "scale": [
            1.0,
            1.0,
            1.0
          ],
          "fixed_base": false,
          "expected_file_hash": "f5521822e2b1a53b30bcdf550a751b00"
        }
      },
      "robot_boaiwk": {
        "class_module": "omnigibson.robots.franka",
        "class_name": "FrankaPanda",
        "args": {
          "name": "robot_boaiwk",
          "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": [
            -2.072902316285763e-05,
            -1.2999236583709717,
            -4.058142440044321e-05,
            -2.8700380325317383,
            -2.5432504116906784e-05,
            2.0001144409179688,
            0.749969482421875,
            0.03999999910593033,
            0.03999999910593033
          ],
          "obs_modalities": [
            "rgb"
          ],
          "expected_file_hash": "9ddd461281d1c875d2ae552f61751c3f",
          "grasping_mode": "assisted"
        }
      },
      "goal_region__beaker_49": {
        "class_module": "omnigibson.objects.primitive_object",
        "class_name": "PrimitiveObject",
        "args": {
          "name": "goal_region__beaker_49",
          "primitive_type": "Sphere",
          "relative_prim_path": "/goal_region__beaker_49",
          "category": "goal_region_marker",
          "fixed_base": true,
          "visual_only": true,
          "rgba": [
            0.1,
            0.8,
            0.2,
            1.0
          ],
          "radius": 0.03767894026155939
        }
      }
    }
  }
}