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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\"\n }\n },\n \"walls_gishpf_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_gishpf_0\",\n \"category\": \"walls\",\n \"model\": \"gishpf\",\n \"scale\": [\n 0.9998095035552979,\n 0.9999909996986389,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\"\n }\n },\n \"walls_hcbqvq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_hcbqvq_0\",\n \"category\": \"walls\",\n \"model\": \"hcbqvq\",\n \"scale\": [\n 0.9998935461044312,\n 0.9998812675476074,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n 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\"bddl_object_scope\": null\n }\n },\n \"walls_pmygxs_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_pmygxs_0\",\n \"category\": \"walls\",\n \"model\": \"pmygxs\",\n \"scale\": [\n 0.999999463558197,\n 0.9998095035552979,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_qeofms_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_qeofms_0\",\n \"category\": \"walls\",\n \"model\": \"qeofms\",\n \"scale\": [\n 0.9999974966049194,\n 0.999953031539917,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_uiloru_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_uiloru_0\",\n \"category\": \"walls\",\n \"model\": \"uiloru\",\n \"scale\": [\n 0.9999812245368958,\n 0.9997938871383667,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_umqqmh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_umqqmh_0\",\n \"category\": \"walls\",\n \"model\": \"umqqmh\",\n \"scale\": [\n 1.000093698501587,\n 0.9998928904533386,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_upttgq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_upttgq_0\",\n \"category\": \"walls\",\n \"model\": \"upttgq\",\n \"scale\": [\n 0.9997971057891846,\n 1.0000076293945312,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vxveul_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n \"bddl_object_scope\": null\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n \"image_width\": 480\n }\n }\n },\n \"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 6563, + "num_samples": 6563, + "robot_type": "R1Pro", + "task_obs_keys": [ + "agent.n.01_1_real", + "agent.n.01_1_pos", + "agent.n.01_1_ori_cos", + "agent.n.01_1_ori_sin", + "easter_egg.n.01_1_real", + "easter_egg.n.01_1_pos", + "easter_egg.n.01_1_ori_cos", + "easter_egg.n.01_1_ori_sin", + "easter_egg.n.01_1_in_gripper_left", + "easter_egg.n.01_1_in_gripper_right", + "easter_egg.n.01_2_real", + "easter_egg.n.01_2_pos", + "easter_egg.n.01_2_ori_cos", + "easter_egg.n.01_2_ori_sin", + "easter_egg.n.01_2_in_gripper_left", + "easter_egg.n.01_2_in_gripper_right", + "easter_egg.n.01_3_real", + "easter_egg.n.01_3_pos", + "easter_egg.n.01_3_ori_cos", + "easter_egg.n.01_3_ori_sin", + "easter_egg.n.01_3_in_gripper_left", + "easter_egg.n.01_3_in_gripper_right", + "wicker_basket.n.01_1_real", + "wicker_basket.n.01_1_pos", + "wicker_basket.n.01_1_ori_cos", + "wicker_basket.n.01_1_ori_sin", + "wicker_basket.n.01_1_in_gripper_left", + "wicker_basket.n.01_1_in_gripper_right", + "lawn.n.01_1_real", + "lawn.n.01_1_pos", + "lawn.n.01_1_ori_cos", + "lawn.n.01_1_ori_sin", + "lawn.n.01_1_in_gripper_left", + "lawn.n.01_1_in_gripper_right", + "tree.n.01_1_real", + "tree.n.01_1_pos", + "tree.n.01_1_ori_cos", + "tree.n.01_1_ori_sin", + "tree.n.01_1_in_gripper_left", + "tree.n.01_1_in_gripper_right", + "tree.n.01_2_real", + "tree.n.01_2_pos", + "tree.n.01_2_ori_cos", + "tree.n.01_2_ori_sin", + "tree.n.01_2_in_gripper_left", + "tree.n.01_2_in_gripper_right", + "tree.n.01_3_real", + "tree.n.01_3_pos", + "tree.n.01_3_ori_cos", + "tree.n.01_3_ori_sin", + "tree.n.01_3_in_gripper_left", + "tree.n.01_3_in_gripper_right", + "tree.n.01_4_real", + "tree.n.01_4_pos", + "tree.n.01_4_ori_cos", + "tree.n.01_4_ori_sin", + "tree.n.01_4_in_gripper_left", + "tree.n.01_4_in_gripper_right", + "tree.n.01_5_real", + "tree.n.01_5_pos", + "tree.n.01_5_ori_cos", + "tree.n.01_5_ori_sin", + "tree.n.01_5_in_gripper_left", + "tree.n.01_5_in_gripper_right", + "tree.n.01_6_real", + "tree.n.01_6_pos", + "tree.n.01_6_ori_cos", + "tree.n.01_6_ori_sin", + "tree.n.01_6_in_gripper_left", + "tree.n.01_6_in_gripper_right", + "tree.n.01_7_real", + "tree.n.01_7_pos", + "tree.n.01_7_ori_cos", + "tree.n.01_7_ori_sin", + "tree.n.01_7_in_gripper_left", + "tree.n.01_7_in_gripper_right", + "tree.n.01_8_real", + "tree.n.01_8_pos", + "tree.n.01_8_ori_cos", + "tree.n.01_8_ori_sin", + "tree.n.01_8_in_gripper_left", + "tree.n.01_8_in_gripper_right", + "tree.n.01_9_real", + "tree.n.01_9_pos", + "tree.n.01_9_ori_cos", + "tree.n.01_9_ori_sin", + "tree.n.01_9_in_gripper_left", + "tree.n.01_9_in_gripper_right", + "tree.n.01_10_real", + "tree.n.01_10_pos", + "tree.n.01_10_ori_cos", + "tree.n.01_10_ori_sin", + "tree.n.01_10_in_gripper_left", + "tree.n.01_10_in_gripper_right", + "tree.n.01_11_real", + "tree.n.01_11_pos", + "tree.n.01_11_ori_cos", + "tree.n.01_11_ori_sin", + "tree.n.01_11_in_gripper_left", + "tree.n.01_11_in_gripper_right", + "tree.n.01_12_real", + "tree.n.01_12_pos", + "tree.n.01_12_ori_cos", + "tree.n.01_12_ori_sin", + "tree.n.01_12_in_gripper_left", + "tree.n.01_12_in_gripper_right", + "tree.n.01_13_real", + 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\"}}, \"walls_upttgq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_upttgq_0\", \"category\": \"walls\", \"model\": \"upttgq\", \"scale\": [0.9997971057891846, 1.0000076293945312, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\"}}, \"walls_vxveul_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_vxveul_0\", \"category\": \"walls\", \"model\": \"vxveul\", \"scale\": [0.9999592900276184, 1.0000137090682983, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n }\n },\n \"walls_mwlvfb_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mwlvfb_0\",\n \"category\": \"walls\",\n \"model\": \"mwlvfb\",\n \"scale\": [\n 1.0000306367874146,\n 1.0001626014709473,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n 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\"\",\n \"expected_file_hash\": \"84f02350fa312f29224d46048ad0fd58\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_paarsl_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_paarsl_0\",\n \"category\": \"walls\",\n \"model\": \"paarsl\",\n \"scale\": [\n 0.999906599521637,\n 1.0000128746032715,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"11fa687a13b59d0c43196761a127277d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_pmygxs_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_pmygxs_0\",\n \"category\": \"walls\",\n \"model\": \"pmygxs\",\n \"scale\": [\n 0.999999463558197,\n 0.9998095035552979,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_qeofms_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_qeofms_0\",\n \"category\": \"walls\",\n \"model\": \"qeofms\",\n \"scale\": [\n 0.9999974966049194,\n 0.999953031539917,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_uiloru_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_uiloru_0\",\n \"category\": \"walls\",\n \"model\": \"uiloru\",\n \"scale\": [\n 0.9999812245368958,\n 0.9997938871383667,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_umqqmh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_umqqmh_0\",\n \"category\": \"walls\",\n \"model\": \"umqqmh\",\n \"scale\": [\n 1.000093698501587,\n 0.9998928904533386,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_upttgq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_upttgq_0\",\n \"category\": \"walls\",\n \"model\": \"upttgq\",\n \"scale\": [\n 0.9997971057891846,\n 1.0000076293945312,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vxveul_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n \"bddl_object_scope\": null\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n \"image_width\": 480\n }\n }\n },\n \"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 9051, + "num_samples": 9051, + "robot_type": "R1Pro", + "task_obs_keys": [ + "agent.n.01_1_real", + "agent.n.01_1_pos", + "agent.n.01_1_ori_cos", + "agent.n.01_1_ori_sin", + "easter_egg.n.01_1_real", + "easter_egg.n.01_1_pos", + "easter_egg.n.01_1_ori_cos", + "easter_egg.n.01_1_ori_sin", + "easter_egg.n.01_1_in_gripper_left", + "easter_egg.n.01_1_in_gripper_right", + "easter_egg.n.01_2_real", + "easter_egg.n.01_2_pos", + "easter_egg.n.01_2_ori_cos", + "easter_egg.n.01_2_ori_sin", + "easter_egg.n.01_2_in_gripper_left", + "easter_egg.n.01_2_in_gripper_right", + 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{\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_uiloru_0\", \"category\": \"walls\", \"model\": \"uiloru\", \"scale\": [0.9999812245368958, 0.9997938871383667, 0.9999076128005981], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\"}}, \"walls_umqqmh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_umqqmh_0\", \"category\": \"walls\", \"model\": \"umqqmh\", \"scale\": [1.000093698501587, 0.9998928904533386, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\"}}, \"walls_upttgq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_upttgq_0\", \"category\": \"walls\", \"model\": \"upttgq\", \"scale\": [0.9997971057891846, 1.0000076293945312, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\"}}, \"walls_vxveul_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_vxveul_0\", \"category\": \"walls\", \"model\": \"vxveul\", \"scale\": [0.9999592900276184, 1.0000137090682983, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\"}}, \"walls_weybsr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_weybsr_0\", \"category\": \"walls\", \"model\": \"weybsr\", \"scale\": [1.0000098943710327, 0.9999802112579346, 1.0000050067901611], 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1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\"\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\"\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\"\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\"\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\"\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\"\n }\n },\n \"washer_ziomqg_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"washer_ziomqg_0\",\n \"category\": \"washer\",\n \"model\": \"ziomqg\",\n \"scale\": [\n 1.0000054836273193,\n 0.9999728202819824,\n 0.9999645948410034\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bathroom_0\"\n ],\n \"bddl_object_scope\": null\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": 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0.9997971057891846,\n 1.0000076293945312,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vxveul_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n \"bddl_object_scope\": null\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": 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\"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": 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\"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n 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index 0000000000000000000000000000000000000000..08cea4bf327325987fb304e34d840d7af44871dd --- /dev/null +++ b/meta/sim/episode_00000130.json @@ -0,0 +1,389 @@ +{ + "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_lower_task_hiding_Easter_eggs_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"easter_egg.n.01_1\": \"easter_egg_181\", \"easter_egg.n.01_2\": \"easter_egg_180\", \"easter_egg.n.01_3\": \"easter_egg_179\", \"lawn.n.01_1\": 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\"\n }\n },\n \"walls_gishpf_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_gishpf_0\",\n \"category\": \"walls\",\n \"model\": \"gishpf\",\n \"scale\": [\n 0.9998095035552979,\n 0.9999909996986389,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\"\n }\n },\n \"walls_hcbqvq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_hcbqvq_0\",\n \"category\": \"walls\",\n \"model\": \"hcbqvq\",\n \"scale\": [\n 0.9998935461044312,\n 0.9998812675476074,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n 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\"bddl_object_scope\": null\n }\n },\n \"walls_pmygxs_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_pmygxs_0\",\n \"category\": \"walls\",\n \"model\": \"pmygxs\",\n \"scale\": [\n 0.999999463558197,\n 0.9998095035552979,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_qeofms_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_qeofms_0\",\n \"category\": \"walls\",\n \"model\": \"qeofms\",\n \"scale\": [\n 0.9999974966049194,\n 0.999953031539917,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_uiloru_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_uiloru_0\",\n \"category\": \"walls\",\n \"model\": \"uiloru\",\n \"scale\": [\n 0.9999812245368958,\n 0.9997938871383667,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_umqqmh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_umqqmh_0\",\n \"category\": \"walls\",\n \"model\": \"umqqmh\",\n \"scale\": [\n 1.000093698501587,\n 0.9998928904533386,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_upttgq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_upttgq_0\",\n \"category\": \"walls\",\n \"model\": \"upttgq\",\n \"scale\": [\n 0.9997971057891846,\n 1.0000076293945312,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vxveul_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n \"bddl_object_scope\": null\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n \"image_width\": 480\n }\n }\n },\n \"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 6553, + "num_samples": 6553, + "robot_type": "R1Pro", + "task_obs_keys": [ + "agent.n.01_1_real", + "agent.n.01_1_pos", + "agent.n.01_1_ori_cos", + "agent.n.01_1_ori_sin", + "easter_egg.n.01_1_real", + "easter_egg.n.01_1_pos", + "easter_egg.n.01_1_ori_cos", + "easter_egg.n.01_1_ori_sin", + "easter_egg.n.01_1_in_gripper_left", + "easter_egg.n.01_1_in_gripper_right", + "easter_egg.n.01_2_real", + "easter_egg.n.01_2_pos", + "easter_egg.n.01_2_ori_cos", + "easter_egg.n.01_2_ori_sin", + "easter_egg.n.01_2_in_gripper_left", + "easter_egg.n.01_2_in_gripper_right", + "easter_egg.n.01_3_real", + "easter_egg.n.01_3_pos", + "easter_egg.n.01_3_ori_cos", + "easter_egg.n.01_3_ori_sin", + "easter_egg.n.01_3_in_gripper_left", + "easter_egg.n.01_3_in_gripper_right", + "wicker_basket.n.01_1_real", + "wicker_basket.n.01_1_pos", + "wicker_basket.n.01_1_ori_cos", + "wicker_basket.n.01_1_ori_sin", + "wicker_basket.n.01_1_in_gripper_left", + "wicker_basket.n.01_1_in_gripper_right", + "lawn.n.01_1_real", + "lawn.n.01_1_pos", + "lawn.n.01_1_ori_cos", + "lawn.n.01_1_ori_sin", + "lawn.n.01_1_in_gripper_left", + "lawn.n.01_1_in_gripper_right", + "tree.n.01_1_real", + "tree.n.01_1_pos", + "tree.n.01_1_ori_cos", + "tree.n.01_1_ori_sin", + "tree.n.01_1_in_gripper_left", + "tree.n.01_1_in_gripper_right", + "tree.n.01_2_real", + "tree.n.01_2_pos", + "tree.n.01_2_ori_cos", + "tree.n.01_2_ori_sin", + "tree.n.01_2_in_gripper_left", + "tree.n.01_2_in_gripper_right", + "tree.n.01_3_real", + "tree.n.01_3_pos", + "tree.n.01_3_ori_cos", + "tree.n.01_3_ori_sin", + "tree.n.01_3_in_gripper_left", + "tree.n.01_3_in_gripper_right", + "tree.n.01_4_real", + "tree.n.01_4_pos", + "tree.n.01_4_ori_cos", + "tree.n.01_4_ori_sin", + "tree.n.01_4_in_gripper_left", + "tree.n.01_4_in_gripper_right", + "tree.n.01_5_real", + "tree.n.01_5_pos", + "tree.n.01_5_ori_cos", + "tree.n.01_5_ori_sin", + "tree.n.01_5_in_gripper_left", + "tree.n.01_5_in_gripper_right", + "tree.n.01_6_real", + "tree.n.01_6_pos", + "tree.n.01_6_ori_cos", + "tree.n.01_6_ori_sin", + "tree.n.01_6_in_gripper_left", + "tree.n.01_6_in_gripper_right", + "tree.n.01_7_real", + "tree.n.01_7_pos", + "tree.n.01_7_ori_cos", + "tree.n.01_7_ori_sin", + "tree.n.01_7_in_gripper_left", + "tree.n.01_7_in_gripper_right", + "tree.n.01_8_real", + "tree.n.01_8_pos", + "tree.n.01_8_ori_cos", + "tree.n.01_8_ori_sin", + "tree.n.01_8_in_gripper_left", + "tree.n.01_8_in_gripper_right", + "tree.n.01_9_real", + "tree.n.01_9_pos", + "tree.n.01_9_ori_cos", + "tree.n.01_9_ori_sin", + "tree.n.01_9_in_gripper_left", + "tree.n.01_9_in_gripper_right", + "tree.n.01_10_real", + "tree.n.01_10_pos", + "tree.n.01_10_ori_cos", + "tree.n.01_10_ori_sin", + "tree.n.01_10_in_gripper_left", + "tree.n.01_10_in_gripper_right", + "tree.n.01_11_real", + "tree.n.01_11_pos", + "tree.n.01_11_ori_cos", + "tree.n.01_11_ori_sin", + "tree.n.01_11_in_gripper_left", + "tree.n.01_11_in_gripper_right", + "tree.n.01_12_real", + "tree.n.01_12_pos", + "tree.n.01_12_ori_cos", + "tree.n.01_12_ori_sin", + "tree.n.01_12_in_gripper_left", + "tree.n.01_12_in_gripper_right", + "tree.n.01_13_real", + 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"tree.n.01_19_pos", + "tree.n.01_19_ori_cos", + "tree.n.01_19_ori_sin", + "tree.n.01_19_in_gripper_left", + "tree.n.01_19_in_gripper_right", + "tree.n.01_20_real", + "tree.n.01_20_pos", + "tree.n.01_20_ori_cos", + "tree.n.01_20_ori_sin", + "tree.n.01_20_in_gripper_left", + "tree.n.01_20_in_gripper_right", + "tree.n.01_21_real", + "tree.n.01_21_pos", + "tree.n.01_21_ori_cos", + "tree.n.01_21_ori_sin", + "tree.n.01_21_in_gripper_left", + "tree.n.01_21_in_gripper_right", + "tree.n.01_22_real", + "tree.n.01_22_pos", + "tree.n.01_22_ori_cos", + "tree.n.01_22_ori_sin", + "tree.n.01_22_in_gripper_left", + "tree.n.01_22_in_gripper_right", + "tree.n.01_23_real", + "tree.n.01_23_pos", + "tree.n.01_23_ori_cos", + "tree.n.01_23_ori_sin", + "tree.n.01_23_in_gripper_left", + "tree.n.01_23_in_gripper_right", + "tree.n.01_24_real", + "tree.n.01_24_pos", + "tree.n.01_24_ori_cos", + "tree.n.01_24_ori_sin", + "tree.n.01_24_in_gripper_left", + "tree.n.01_24_in_gripper_right", + "tree.n.01_25_real", + 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\"\n }\n },\n \"walls_gishpf_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_gishpf_0\",\n \"category\": \"walls\",\n \"model\": \"gishpf\",\n \"scale\": [\n 0.9998095035552979,\n 0.9999909996986389,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\"\n }\n },\n \"walls_hcbqvq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_hcbqvq_0\",\n \"category\": \"walls\",\n \"model\": \"hcbqvq\",\n \"scale\": [\n 0.9998935461044312,\n 0.9998812675476074,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n 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\"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_uiloru_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_uiloru_0\",\n \"category\": \"walls\",\n \"model\": \"uiloru\",\n \"scale\": [\n 0.9999812245368958,\n 0.9997938871383667,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_umqqmh_0\": {\n \"class_module\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": 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\"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n \"image_width\": 480\n }\n }\n },\n \"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 6217, + "num_samples": 6217, + "robot_type": "R1Pro", + "task_obs_keys": [ + "agent.n.01_1_real", + 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+ "lawn.n.01_1_in_gripper_right", + "tree.n.01_1_real", + "tree.n.01_1_pos", + "tree.n.01_1_ori_cos", + "tree.n.01_1_ori_sin", + "tree.n.01_1_in_gripper_left", + "tree.n.01_1_in_gripper_right", + "tree.n.01_2_real", + "tree.n.01_2_pos", + "tree.n.01_2_ori_cos", + "tree.n.01_2_ori_sin", + "tree.n.01_2_in_gripper_left", + "tree.n.01_2_in_gripper_right", + "tree.n.01_3_real", + "tree.n.01_3_pos", + "tree.n.01_3_ori_cos", + "tree.n.01_3_ori_sin", + "tree.n.01_3_in_gripper_left", + "tree.n.01_3_in_gripper_right", + "tree.n.01_4_real", + "tree.n.01_4_pos", + "tree.n.01_4_ori_cos", + "tree.n.01_4_ori_sin", + "tree.n.01_4_in_gripper_left", + "tree.n.01_4_in_gripper_right", + "tree.n.01_5_real", + "tree.n.01_5_pos", + "tree.n.01_5_ori_cos", + "tree.n.01_5_ori_sin", + "tree.n.01_5_in_gripper_left", + "tree.n.01_5_in_gripper_right", + "tree.n.01_6_real", + "tree.n.01_6_pos", + "tree.n.01_6_ori_cos", + "tree.n.01_6_ori_sin", + "tree.n.01_6_in_gripper_left", + "tree.n.01_6_in_gripper_right", + 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"tree.n.01_13_pos", + "tree.n.01_13_ori_cos", + "tree.n.01_13_ori_sin", + "tree.n.01_13_in_gripper_left", + "tree.n.01_13_in_gripper_right", + "tree.n.01_14_real", + "tree.n.01_14_pos", + "tree.n.01_14_ori_cos", + "tree.n.01_14_ori_sin", + "tree.n.01_14_in_gripper_left", + "tree.n.01_14_in_gripper_right", + "tree.n.01_15_real", + "tree.n.01_15_pos", + "tree.n.01_15_ori_cos", + "tree.n.01_15_ori_sin", + "tree.n.01_15_in_gripper_left", + "tree.n.01_15_in_gripper_right", + "tree.n.01_16_real", + "tree.n.01_16_pos", + "tree.n.01_16_ori_cos", + "tree.n.01_16_ori_sin", + "tree.n.01_16_in_gripper_left", + "tree.n.01_16_in_gripper_right", + "tree.n.01_17_real", + "tree.n.01_17_pos", + "tree.n.01_17_ori_cos", + "tree.n.01_17_ori_sin", + "tree.n.01_17_in_gripper_left", + "tree.n.01_17_in_gripper_right", + "tree.n.01_18_real", + "tree.n.01_18_pos", + "tree.n.01_18_ori_cos", + "tree.n.01_18_ori_sin", + "tree.n.01_18_in_gripper_left", + "tree.n.01_18_in_gripper_right", + "tree.n.01_19_real", + 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\"}}, \"walls_upttgq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_upttgq_0\", \"category\": \"walls\", \"model\": \"upttgq\", \"scale\": [0.9997971057891846, 1.0000076293945312, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\"}}, \"walls_vxveul_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_vxveul_0\", \"category\": \"walls\", \"model\": \"vxveul\", \"scale\": [0.9999592900276184, 1.0000137090682983, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n }\n },\n \"walls_mwlvfb_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mwlvfb_0\",\n \"category\": \"walls\",\n \"model\": \"mwlvfb\",\n \"scale\": [\n 1.0000306367874146,\n 1.0001626014709473,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": 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3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n 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},\n \"walls_miltge_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_miltge_0\",\n \"category\": \"walls\",\n \"model\": \"miltge\",\n \"scale\": [\n 1.0000001192092896,\n 0.9999647736549377,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n }\n },\n \"walls_mwlvfb_0\": {\n 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0b5e185874fa78c45aa5def8d48d4686\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_miltge_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_miltge_0\",\n \"category\": \"walls\",\n \"model\": \"miltge\",\n \"scale\": [\n 1.0000001192092896,\n 0.9999647736549377,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mwlvfb_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mwlvfb_0\",\n \"category\": \"walls\",\n \"model\": \"mwlvfb\",\n \"scale\": [\n 1.0000306367874146,\n 1.0001626014709473,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d66b7521a0a5e91116c0c4f8ef7a267c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oiagxk_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oiagxk_0\",\n \"category\": \"walls\",\n \"model\": \"oiagxk\",\n \"scale\": [\n 0.9999501705169678,\n 1.0000206232070923,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_qeofms_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_qeofms_0\",\n \"category\": \"walls\",\n \"model\": \"qeofms\",\n \"scale\": [\n 0.9999974966049194,\n 0.999953031539917,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n \"bddl_object_scope\": null\n }\n },\n 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n \"bddl_object_scope\": null\n }\n },\n \"washer_ziomqg_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"washer_ziomqg_0\",\n \"category\": \"washer\",\n \"model\": \"ziomqg\",\n \"scale\": [\n 1.0000054836273193,\n 0.9999728202819824,\n 0.9999645948410034\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bathroom_0\"\n ],\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"62aab2dcc7afe9da98fdfa9adee98bb0\"\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n \"image_width\": 480\n }\n }\n },\n \"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 4838, + "num_samples": 4838, + "robot_type": "R1Pro", + "task_obs_keys": [ + "agent.n.01_1_real", + 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+ "lawn.n.01_1_in_gripper_right", + "tree.n.01_1_real", + "tree.n.01_1_pos", + "tree.n.01_1_ori_cos", + "tree.n.01_1_ori_sin", + "tree.n.01_1_in_gripper_left", + "tree.n.01_1_in_gripper_right", + "tree.n.01_2_real", + "tree.n.01_2_pos", + "tree.n.01_2_ori_cos", + "tree.n.01_2_ori_sin", + "tree.n.01_2_in_gripper_left", + "tree.n.01_2_in_gripper_right", + "tree.n.01_3_real", + "tree.n.01_3_pos", + "tree.n.01_3_ori_cos", + "tree.n.01_3_ori_sin", + "tree.n.01_3_in_gripper_left", + "tree.n.01_3_in_gripper_right", + "tree.n.01_4_real", + "tree.n.01_4_pos", + "tree.n.01_4_ori_cos", + "tree.n.01_4_ori_sin", + "tree.n.01_4_in_gripper_left", + "tree.n.01_4_in_gripper_right", + "tree.n.01_5_real", + "tree.n.01_5_pos", + "tree.n.01_5_ori_cos", + "tree.n.01_5_ori_sin", + "tree.n.01_5_in_gripper_left", + "tree.n.01_5_in_gripper_right", + "tree.n.01_6_real", + "tree.n.01_6_pos", + "tree.n.01_6_ori_cos", + "tree.n.01_6_ori_sin", + "tree.n.01_6_in_gripper_left", + "tree.n.01_6_in_gripper_right", + "tree.n.01_7_real", + "tree.n.01_7_pos", + "tree.n.01_7_ori_cos", + "tree.n.01_7_ori_sin", + "tree.n.01_7_in_gripper_left", + "tree.n.01_7_in_gripper_right", + "tree.n.01_8_real", + "tree.n.01_8_pos", + "tree.n.01_8_ori_cos", + "tree.n.01_8_ori_sin", + "tree.n.01_8_in_gripper_left", + "tree.n.01_8_in_gripper_right", + "tree.n.01_9_real", + "tree.n.01_9_pos", + "tree.n.01_9_ori_cos", + "tree.n.01_9_ori_sin", + "tree.n.01_9_in_gripper_left", + "tree.n.01_9_in_gripper_right", + "tree.n.01_10_real", + "tree.n.01_10_pos", + "tree.n.01_10_ori_cos", + "tree.n.01_10_ori_sin", + "tree.n.01_10_in_gripper_left", + "tree.n.01_10_in_gripper_right", + "tree.n.01_11_real", + "tree.n.01_11_pos", + "tree.n.01_11_ori_cos", + "tree.n.01_11_ori_sin", + "tree.n.01_11_in_gripper_left", + "tree.n.01_11_in_gripper_right", + "tree.n.01_12_real", + "tree.n.01_12_pos", + "tree.n.01_12_ori_cos", + "tree.n.01_12_ori_sin", + "tree.n.01_12_in_gripper_left", + "tree.n.01_12_in_gripper_right", + "tree.n.01_13_real", + "tree.n.01_13_pos", + "tree.n.01_13_ori_cos", + "tree.n.01_13_ori_sin", + "tree.n.01_13_in_gripper_left", + "tree.n.01_13_in_gripper_right", + "tree.n.01_14_real", + "tree.n.01_14_pos", + "tree.n.01_14_ori_cos", + "tree.n.01_14_ori_sin", + "tree.n.01_14_in_gripper_left", + "tree.n.01_14_in_gripper_right", + "tree.n.01_15_real", + "tree.n.01_15_pos", + "tree.n.01_15_ori_cos", + "tree.n.01_15_ori_sin", + "tree.n.01_15_in_gripper_left", + "tree.n.01_15_in_gripper_right", + "tree.n.01_16_real", + "tree.n.01_16_pos", + "tree.n.01_16_ori_cos", + "tree.n.01_16_ori_sin", + "tree.n.01_16_in_gripper_left", + "tree.n.01_16_in_gripper_right", + "tree.n.01_17_real", + "tree.n.01_17_pos", + "tree.n.01_17_ori_cos", + "tree.n.01_17_ori_sin", + "tree.n.01_17_in_gripper_left", + "tree.n.01_17_in_gripper_right", + "tree.n.01_18_real", + "tree.n.01_18_pos", + "tree.n.01_18_ori_cos", + "tree.n.01_18_ori_sin", + "tree.n.01_18_in_gripper_left", + "tree.n.01_18_in_gripper_right", + "tree.n.01_19_real", + "tree.n.01_19_pos", + "tree.n.01_19_ori_cos", + "tree.n.01_19_ori_sin", + "tree.n.01_19_in_gripper_left", + "tree.n.01_19_in_gripper_right", + "tree.n.01_20_real", + "tree.n.01_20_pos", + "tree.n.01_20_ori_cos", + "tree.n.01_20_ori_sin", + "tree.n.01_20_in_gripper_left", + "tree.n.01_20_in_gripper_right", + "tree.n.01_21_real", + "tree.n.01_21_pos", + "tree.n.01_21_ori_cos", + "tree.n.01_21_ori_sin", + "tree.n.01_21_in_gripper_left", + "tree.n.01_21_in_gripper_right", + "tree.n.01_22_real", + "tree.n.01_22_pos", + "tree.n.01_22_ori_cos", + "tree.n.01_22_ori_sin", + "tree.n.01_22_in_gripper_left", + "tree.n.01_22_in_gripper_right", + "tree.n.01_23_real", + "tree.n.01_23_pos", + "tree.n.01_23_ori_cos", + "tree.n.01_23_ori_sin", + "tree.n.01_23_in_gripper_left", + "tree.n.01_23_in_gripper_right", + "tree.n.01_24_real", + "tree.n.01_24_pos", + "tree.n.01_24_ori_cos", + "tree.n.01_24_ori_sin", + "tree.n.01_24_in_gripper_left", + "tree.n.01_24_in_gripper_right", + "tree.n.01_25_real", + "tree.n.01_25_pos", + "tree.n.01_25_ori_cos", + "tree.n.01_25_ori_sin", + "tree.n.01_25_in_gripper_left", + "tree.n.01_25_in_gripper_right", + "tree.n.01_26_real", + "tree.n.01_26_pos", + "tree.n.01_26_ori_cos", + "tree.n.01_26_ori_sin", + "tree.n.01_26_in_gripper_left", + "tree.n.01_26_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_knspbi_1/base_link/visuals\", \"3\": \"/World/scene_0/bush_yhjhta_2/base_link/visuals\", \"4\": \"/World/scene_0/bush_pjhpwk_2/base_link/visuals\", \"5\": \"/World/scene_0/washer_ziomqg_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"6\": \"/World/scene_0/bush_cwsigt_0/base_link/visuals\", \"7\": \"/World/scene_0/bush_cwsigt_3/base_link/visuals\", \"8\": \"/World/scene_0/bush_lfyqkj_0/base_link/visuals\", \"9\": \"/World/scene_0/easter_egg_181/base_link/visuals\", \"10\": \"/World/scene_0/easter_egg_180/base_link/visuals\", \"11\": \"/World/scene_0/easter_egg_179/base_link/visuals\", \"12\": \"/World/scene_0/wicker_basket_178/base_link/visuals\", \"13\": \"/World/scene_0/washer_ziomqg_0/door/visuals\", \"14\": \"/World/scene_0/washer_ziomqg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"27\": 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\"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\"}}, \"walls_upttgq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_upttgq_0\", \"category\": \"walls\", \"model\": \"upttgq\", \"scale\": [0.9997971057891846, 1.0000076293945312, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\"}}, \"walls_vxveul_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"walls_vxveul_0\", \"category\": \"walls\", \"model\": \"vxveul\", \"scale\": [0.9999592900276184, 1.0000137090682983, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": 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},\n \"walls_cvdpaq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_cvdpaq_0\",\n \"category\": \"walls\",\n \"model\": \"cvdpaq\",\n \"scale\": [\n 0.9999979734420776,\n 0.9999068975448608,\n 1.000015377998352\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"0cf095598eb7cf2574a2a9b5213c0120\"\n }\n },\n \"walls_cxsmhr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_cxsmhr_0\",\n \"category\": \"walls\",\n \"model\": \"cxsmhr\",\n \"scale\": [\n 1.000010371208191,\n 0.9997971057891846,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"01d260c54777499388a5e5fb29b7e622\"\n }\n },\n \"walls_dewyls_0\": {\n \"class_module\": 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n }\n },\n \"walls_mwlvfb_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mwlvfb_0\",\n \"category\": \"walls\",\n \"model\": \"mwlvfb\",\n \"scale\": [\n 1.0000306367874146,\n 1.0001626014709473,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n 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\"expected_file_hash\": \"11fa687a13b59d0c43196761a127277d\"\n }\n },\n \"walls_pmygxs_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_pmygxs_0\",\n \"category\": \"walls\",\n \"model\": \"pmygxs\",\n \"scale\": [\n 0.999999463558197,\n 0.9998095035552979,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\"\n }\n },\n \"walls_qeofms_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_qeofms_0\",\n \"category\": \"walls\",\n \"model\": \"qeofms\",\n \"scale\": [\n 0.9999974966049194,\n 0.999953031539917,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\"\n }\n },\n \"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\"\n }\n },\n \"walls_uiloru_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_uiloru_0\",\n \"category\": \"walls\",\n \"model\": \"uiloru\",\n \"scale\": [\n 0.9999812245368958,\n 0.9997938871383667,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\"\n }\n 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\"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"living_room_0\"\n ],\n \"expected_file_hash\": \"aeb9ba5c736c81fdd6c95bf7f1fa7ad6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_buhmrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_buhmrc_0\",\n \"category\": \"walls\",\n \"model\": \"buhmrc\",\n \"scale\": [\n 0.9999995231628418,\n 0.9999675750732422,\n 0.9999062418937683\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"85b1f1faa7cd89462ce5dd2842f4c87c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_chmqjn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_chmqjn_0\",\n \"category\": \"walls\",\n \"model\": \"chmqjn\",\n \"scale\": [\n 1.0000461339950562,\n 0.999961793422699,\n 0.9999359250068665\n ],\n \"fixed_base\": true,\n 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0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"11fa687a13b59d0c43196761a127277d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_pmygxs_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_pmygxs_0\",\n \"category\": \"walls\",\n \"model\": \"pmygxs\",\n \"scale\": [\n 0.999999463558197,\n 0.9998095035552979,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_qeofms_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_qeofms_0\",\n \"category\": \"walls\",\n \"model\": \"qeofms\",\n \"scale\": [\n 0.9999974966049194,\n 0.999953031539917,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rrabdp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rrabdp_0\",\n \"category\": \"walls\",\n \"model\": \"rrabdp\",\n \"scale\": [\n 0.9999839663505554,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_uiloru_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_uiloru_0\",\n \"category\": \"walls\",\n \"model\": \"uiloru\",\n \"scale\": [\n 0.9999812245368958,\n 0.9997938871383667,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_umqqmh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_umqqmh_0\",\n \"category\": \"walls\",\n \"model\": \"umqqmh\",\n \"scale\": [\n 1.000093698501587,\n 0.9998928904533386,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"db7229d1035b3c78f0c0ff6fabbe4657\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_upttgq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_upttgq_0\",\n \"category\": \"walls\",\n \"model\": \"upttgq\",\n \"scale\": [\n 0.9997971057891846,\n 1.0000076293945312,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0c30177bde974be92ce6fa7c45bc426d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vxveul_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"66182c73b300e8b178bed38766148bd5\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_weybsr_0\",\n \"category\": \"walls\",\n \"model\": \"weybsr\",\n \"scale\": [\n 1.0000098943710327,\n 0.9999802112579346,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"da426a28f5e10b5f6075b05eb8d1e82f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d412d642ddd611b8130cc44fc4f59555\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d28c881cc6d2aa5e53ec80abd55e53f1\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"cba77dc2d9aa27129d0f86c752fda092\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c60b40c63fb6b70fbcf74b4dd1feb0e6\",\n \"bddl_object_scope\": null\n }\n },\n \"washer_ziomqg_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"washer_ziomqg_0\",\n \"category\": \"washer\",\n \"model\": \"ziomqg\",\n \"scale\": [\n 1.0000054836273193,\n 0.9999728202819824,\n 0.9999645948410034\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bathroom_0\"\n ],\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"62aab2dcc7afe9da98fdfa9adee98bb0\"\n }\n },\n \"wicker_basket_178\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wicker_basket_178\",\n \"category\": \"wicker_basket\",\n \"model\": \"drxfmr\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"c81496cb8e4afdf0d9a7340f9d0e40d7\"\n }\n },\n \"easter_egg_179\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_179\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_180\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_180\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n 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"ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_9/base_link/visuals\", \"3\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"4\": \"/World/scene_0/easter_egg_181/base_link/visuals\", \"5\": \"/World/scene_0/easter_egg_180/base_link/visuals\", \"6\": \"/World/scene_0/easter_egg_179/base_link/visuals\", \"7\": \"/World/scene_0/wicker_basket_178/base_link/visuals\", \"8\": \"/World/scene_0/washer_ziomqg_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"9\": \"/World/scene_0/washer_ziomqg_0/door/visuals\", \"10\": \"/World/scene_0/washer_ziomqg_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"16\": 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\"\n }\n },\n \"walls_gishpf_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_gishpf_0\",\n \"category\": \"walls\",\n \"model\": \"gishpf\",\n \"scale\": [\n 0.9998095035552979,\n 0.9999909996986389,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\"\n }\n },\n \"walls_hcbqvq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_hcbqvq_0\",\n \"category\": \"walls\",\n \"model\": \"hcbqvq\",\n \"scale\": [\n 0.9998935461044312,\n 0.9998812675476074,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n 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},\n \"walls_miltge_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_miltge_0\",\n \"category\": \"walls\",\n \"model\": \"miltge\",\n \"scale\": [\n 1.0000001192092896,\n 0.9999647736549377,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"bddl_object_scope\": null,\n \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n }\n },\n \"walls_mwlvfb_0\": {\n 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0b5e185874fa78c45aa5def8d48d4686\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_miltge_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_miltge_0\",\n \"category\": \"walls\",\n \"model\": \"miltge\",\n \"scale\": [\n 1.0000001192092896,\n 0.9999647736549377,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mkgplc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mkgplc_0\",\n \"category\": \"walls\",\n \"model\": \"mkgplc\",\n \"scale\": [\n 1.0000089406967163,\n 1.0001459121704102,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n 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\"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"easter_egg_181\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"easter_egg_181\",\n \"category\": \"easter_egg\",\n \"model\": \"rxwfse\",\n \"scale\": [\n 2.734586000442505,\n 3.36807918548584,\n 3.002685070037842\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"b5ea22a4615848d18e2d17c94382c973\"\n }\n },\n \"robot_r1\": {\n \"class_module\": \"omnigibson.robots.r1pro\",\n \"class_name\": \"R1Pro\",\n \"args\": {\n \"name\": \"robot_r1\",\n \"self_collisions\": true,\n \"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\n [\n -1.0,\n -1.0,\n -1.0\n ],\n [\n 1.0,\n 1.0,\n 1.0\n ]\n ],\n \"command_output_limits\": [\n [\n -0.75,\n -0.75,\n -1.0\n ],\n [\n 0.75,\n 0.75,\n 1.0\n ]\n ],\n \"use_impedances\": false\n },\n \"trunk\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"camera\": {\n \"name\": \"NullJointController\"\n }\n },\n \"action_normalize\": false,\n \"reset_joint_pos\": [\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 1.024999976158142,\n -1.4500000476837158,\n -0.4699999988079071,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.0,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806,\n 0.05000000074505806\n ],\n \"obs_modalities\": [\n \"proprio\"\n ],\n \"include_sensor_names\": null,\n \"exclude_sensor_names\": null,\n \"proprio_obs\": [\n \"joint_qpos\",\n \"joint_qpos_sin\",\n \"joint_qpos_cos\",\n \"joint_qvel\",\n \"joint_qeffort\",\n \"robot_pos\",\n \"robot_ori_cos\",\n \"robot_ori_sin\",\n \"robot_2d_ori\",\n \"robot_2d_ori_cos\",\n \"robot_2d_ori_sin\",\n \"robot_lin_vel\",\n \"robot_ang_vel\",\n \"arm_left_qpos\",\n \"arm_left_qpos_sin\",\n \"arm_left_qpos_cos\",\n \"arm_left_qvel\",\n \"eef_left_pos\",\n \"eef_left_quat\",\n \"grasp_left\",\n \"gripper_left_qpos\",\n \"gripper_left_qvel\",\n \"arm_right_qpos\",\n \"arm_right_qpos_sin\",\n \"arm_right_qpos_cos\",\n \"arm_right_qvel\",\n \"eef_right_pos\",\n \"eef_right_quat\",\n \"grasp_right\",\n \"gripper_right_qpos\",\n \"gripper_right_qvel\",\n \"trunk_qpos\",\n \"trunk_qvel\",\n \"base_qpos\",\n \"base_qpos_sin\",\n \"base_qpos_cos\",\n \"base_qvel\"\n ],\n \"sensor_config\": {\n \"VisionSensor\": {\n \"modalities\": [\n \"rgb\",\n \"depth_linear\",\n \"seg_semantic\",\n \"seg_instance_id\"\n ],\n \"sensor_kwargs\": {\n \"image_height\": 480,\n \"image_width\": 480\n }\n }\n },\n \"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 8048, + "num_samples": 8048, + "robot_type": "R1Pro", + "task_obs_keys": [ + "agent.n.01_1_real", + 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+ "lawn.n.01_1_in_gripper_right", + "tree.n.01_1_real", + "tree.n.01_1_pos", + "tree.n.01_1_ori_cos", + "tree.n.01_1_ori_sin", + "tree.n.01_1_in_gripper_left", + "tree.n.01_1_in_gripper_right", + "tree.n.01_2_real", + "tree.n.01_2_pos", + "tree.n.01_2_ori_cos", + "tree.n.01_2_ori_sin", + "tree.n.01_2_in_gripper_left", + "tree.n.01_2_in_gripper_right", + "tree.n.01_3_real", + "tree.n.01_3_pos", + "tree.n.01_3_ori_cos", + "tree.n.01_3_ori_sin", + "tree.n.01_3_in_gripper_left", + "tree.n.01_3_in_gripper_right", + "tree.n.01_4_real", + "tree.n.01_4_pos", + "tree.n.01_4_ori_cos", + "tree.n.01_4_ori_sin", + "tree.n.01_4_in_gripper_left", + "tree.n.01_4_in_gripper_right", + "tree.n.01_5_real", + "tree.n.01_5_pos", + "tree.n.01_5_ori_cos", + "tree.n.01_5_ori_sin", + "tree.n.01_5_in_gripper_left", + "tree.n.01_5_in_gripper_right", + "tree.n.01_6_real", + "tree.n.01_6_pos", + "tree.n.01_6_ori_cos", + "tree.n.01_6_ori_sin", + "tree.n.01_6_in_gripper_left", + "tree.n.01_6_in_gripper_right", + "tree.n.01_7_real", + "tree.n.01_7_pos", + "tree.n.01_7_ori_cos", + "tree.n.01_7_ori_sin", + "tree.n.01_7_in_gripper_left", + "tree.n.01_7_in_gripper_right", + "tree.n.01_8_real", + "tree.n.01_8_pos", + "tree.n.01_8_ori_cos", + "tree.n.01_8_ori_sin", + "tree.n.01_8_in_gripper_left", + "tree.n.01_8_in_gripper_right", + "tree.n.01_9_real", + "tree.n.01_9_pos", + "tree.n.01_9_ori_cos", + "tree.n.01_9_ori_sin", + "tree.n.01_9_in_gripper_left", + "tree.n.01_9_in_gripper_right", + "tree.n.01_10_real", + "tree.n.01_10_pos", + "tree.n.01_10_ori_cos", + "tree.n.01_10_ori_sin", + "tree.n.01_10_in_gripper_left", + "tree.n.01_10_in_gripper_right", + "tree.n.01_11_real", + "tree.n.01_11_pos", + "tree.n.01_11_ori_cos", + "tree.n.01_11_ori_sin", + "tree.n.01_11_in_gripper_left", + "tree.n.01_11_in_gripper_right", + "tree.n.01_12_real", + "tree.n.01_12_pos", + "tree.n.01_12_ori_cos", + "tree.n.01_12_ori_sin", + "tree.n.01_12_in_gripper_left", + "tree.n.01_12_in_gripper_right", + "tree.n.01_13_real", + 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"tree.n.01_25_pos", + "tree.n.01_25_ori_cos", + "tree.n.01_25_ori_sin", + "tree.n.01_25_in_gripper_left", + "tree.n.01_25_in_gripper_right", + "tree.n.01_26_real", + "tree.n.01_26_pos", + "tree.n.01_26_ori_cos", + "tree.n.01_26_ori_sin", + "tree.n.01_26_in_gripper_left", + "tree.n.01_26_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_5/base_link/visuals\", \"3\": \"/World/scene_0/bush_frqici_1/base_link/visuals\", \"4\": \"/World/scene_0/bush_cwsigt_10/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"6\": \"/World/scene_0/car_xxsgpq_0/rear_glass/visuals\", \"7\": \"/World/scene_0/bush_kyghri_0/base_link/visuals\", \"8\": \"/World/scene_0/easter_egg_181/base_link/visuals\", \"9\": \"/World/scene_0/easter_egg_180/base_link/visuals\", \"10\": \"/World/scene_0/easter_egg_179/base_link/visuals\", \"11\": \"/World/scene_0/wicker_basket_178/base_link/visuals\", \"12\": 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