{
    "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": {
                "nightstand_roxnbe_0": {
                    "is_asleep": false,
                    "root_link": {
                        "pos": [
                            5.92437219619751,
                            3.7766802310943604,
                            0.4112929701805115
                        ],
                        "ori": [
                            3.979075700044632e-07,
                            -3.5256871910860355e-07,
                            -0.7071059942245483,
                            0.7071075439453125
                        ]
                    },
                    "non_kin": {}
                },
                "robot_gaxptl": {
                    "is_asleep": false,
                    "root_link": {
                        "pos": [
                            5.924930572509766,
                            3.2290120124816895,
                            0.6799116134643555
                        ],
                        "ori": [
                            -1.4901161193847656e-08,
                            8.032657206058502e-09,
                            0.7070435881614685,
                            0.7071700692176819
                        ],
                        "lin_vel": [
                            0.0,
                            0.0,
                            0.0
                        ],
                        "ang_vel": [
                            0.0,
                            0.0,
                            0.0
                        ]
                    },
                    "joint_pos": [
                        -5.253741983324289e-05,
                        1.897890615509823e-05,
                        -2.6854851967073046e-05,
                        -0.06982837617397308,
                        5.3535484767053276e-05,
                        0.08162922412157059,
                        -5.682115806848742e-05,
                        0.019974740222096443,
                        0.019747434183955193
                    ],
                    "joint_vel": [
                        0.02166835218667984,
                        0.012129182927310467,
                        0.015406377613544464,
                        0.0004836997832171619,
                        0.02767360955476761,
                        -1.1254104375839233,
                        -0.3272783160209656,
                        0.009194950573146343,
                        -0.17154066264629364
                    ],
                    "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": [
                                    [
                                        -1.5646218116671662e-06,
                                        -8.940696147874405e-07
                                    ],
                                    [
                                        1.1175869758517365e-06,
                                        1.788139229574881e-06
                                    ],
                                    [
                                        -2.6822087875189027e-06,
                                        4.023313522338867e-06
                                    ],
                                    [
                                        2.235173951703473e-06,
                                        -4.470347903406946e-06
                                    ],
                                    [
                                        4.4703480739372026e-07,
                                        -2.2351740369686013e-07
                                    ]
                                ],
                                "current_idx": 4,
                                "fully_filled": true
                            }
                        }
                    },
                    "non_kin": {}
                },
                "goal_region__target_pop_case_ep1_1": {
                    "is_asleep": false,
                    "root_link": {
                        "pos": [
                            5.383780479431152,
                            3.7445895671844482,
                            0.7461345195770264
                        ],
                        "ori": [
                            0.0,
                            0.0,
                            0.0,
                            1.0
                        ]
                    },
                    "non_kin": {},
                    "radius": 0.08855395019054413,
                    "height": -1,
                    "size": -1
                }
            }
        }
    },
    "init_info": {
        "class_module": "omnigibson.scenes.scene_base",
        "class_name": "Scene",
        "args": {
            "scene_file": null
        }
    },
    "objects_info": {
        "init_info": {
            "nightstand_roxnbe_0": {
                "class_module": "omnigibson.objects.dataset_object",
                "class_name": "DatasetObject",
                "args": {
                    "name": "nightstand_roxnbe_0",
                    "category": "nightstand",
                    "model": "roxnbe",
                    "scale": [
                        1.0,
                        1.0,
                        1.0
                    ],
                    "fixed_base": true,
                    "expected_file_hash": "5ba69d219dbaff0546a93fe237b09207"
                }
            },
            "robot_gaxptl": {
                "class_module": "omnigibson.robots.franka",
                "class_name": "FrankaPanda",
                "args": {
                    "name": "robot_gaxptl",
                    "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": [
                        -3.6646397916229034e-07,
                        -1.2999999523162842,
                        -1.192561512652901e-06,
                        -2.869999885559082,
                        -1.0544271162871155e-06,
                        2.0,
                        0.75,
                        0.03999996930360794,
                        0.039999935775995255
                    ],
                    "obs_modalities": [
                        "rgb"
                    ],
                    "expected_file_hash": "9ddd461281d1c875d2ae552f61751c3f"
                }
            },
            "goal_region__target_pop_case_ep1_1": {
                "class_module": "omnigibson.objects.primitive_object",
                "class_name": "PrimitiveObject",
                "args": {
                    "name": "goal_region__target_pop_case_ep1_1",
                    "primitive_type": "Sphere",
                    "relative_prim_path": "/goal_region__target_pop_case_ep1_1",
                    "category": "goal_region_marker",
                    "fixed_base": true,
                    "visual_only": true,
                    "rgba": [
                        0.1,
                        0.8,
                        0.2,
                        1.0
                    ],
                    "radius": 0.08855395317077637
                }
            }
        }
    }
}