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null, \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\"}}, \"tree_rrhqpw_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_5\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\"}}, \"tree_wtyipq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_wtyipq_0\", \"category\": \"tree\", \"model\": \"wtyipq\", \"scale\": [0.5642488598823547, 0.564253032207489, 0.564262866973877], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\"}}, \"tree_wtyipq_1\": {\"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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 7599, + "num_samples": 7599, + "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", + "gym_shoe.n.01_1_real", + "gym_shoe.n.01_1_pos", + "gym_shoe.n.01_1_ori_cos", + "gym_shoe.n.01_1_ori_sin", + "gym_shoe.n.01_1_in_gripper_left", + "gym_shoe.n.01_1_in_gripper_right", + "gym_shoe.n.01_2_real", + "gym_shoe.n.01_2_pos", + "gym_shoe.n.01_2_ori_cos", + "gym_shoe.n.01_2_ori_sin", + "gym_shoe.n.01_2_in_gripper_left", + "gym_shoe.n.01_2_in_gripper_right", + "floor.n.01_1_real", + "floor.n.01_1_pos", + "floor.n.01_1_ori_cos", + "floor.n.01_1_ori_sin", + "floor.n.01_1_in_gripper_left", + "floor.n.01_1_in_gripper_right", + "sandal.n.01_1_real", + "sandal.n.01_1_pos", + 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\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\": \"db479ab9cc217e69d2cb0748a8fbe312\",\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 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0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\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\": \"77a32e0830f3660a5ed62483d5cac240\",\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\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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\": \"e9e1b102347c179e7404ac8c63a057a1\",\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\": \"cfa38d73f5886197dba5e112adfcc07a\",\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\": \"de4be4ceec4d1ed48e605abe3782ada8\",\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\": \"ce0382609f884e45db5568d574f2e732\",\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\": \"0ed21a252059af2ca999e818dfd81cbb\",\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\": \"be4f1289ffe5930678abdd08063eb74a\",\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\": \"326697987c9faf715f6e6116bc9f3801\",\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\": \"db479ab9cc217e69d2cb0748a8fbe312\",\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\": \"8b98d47f8b384604d4211372b3575ebd\",\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\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 11906, + "num_samples": 11906, + "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", + "gym_shoe.n.01_1_real", + "gym_shoe.n.01_1_pos", + "gym_shoe.n.01_1_ori_cos", + "gym_shoe.n.01_1_ori_sin", + "gym_shoe.n.01_1_in_gripper_left", + "gym_shoe.n.01_1_in_gripper_right", + "gym_shoe.n.01_2_real", + "gym_shoe.n.01_2_pos", + "gym_shoe.n.01_2_ori_cos", + "gym_shoe.n.01_2_ori_sin", + "gym_shoe.n.01_2_in_gripper_left", + "gym_shoe.n.01_2_in_gripper_right", + "floor.n.01_1_real", + "floor.n.01_1_pos", + "floor.n.01_1_ori_cos", + "floor.n.01_1_ori_sin", + "floor.n.01_1_in_gripper_left", + "floor.n.01_1_in_gripper_right", + "sandal.n.01_1_real", + "sandal.n.01_1_pos", + "sandal.n.01_1_ori_cos", + "sandal.n.01_1_ori_sin", + "sandal.n.01_1_in_gripper_left", + "sandal.n.01_1_in_gripper_right", + "sandal.n.01_2_real", + "sandal.n.01_2_pos", + "sandal.n.01_2_ori_cos", + "sandal.n.01_2_ori_sin", + "sandal.n.01_2_in_gripper_left", + "sandal.n.01_2_in_gripper_right", + "hallstand.n.01_1_real", + "hallstand.n.01_1_pos", + "hallstand.n.01_1_ori_cos", + "hallstand.n.01_1_ori_sin", + "hallstand.n.01_1_in_gripper_left", + "hallstand.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/dishwasher_ynrhuk_0/link_2/visuals\", \"3\": \"/World/scene_0/bush_yhjhta_3/base_link/visuals\", \"4\": \"/World/scene_0/bush_frqici_0/base_link/visuals\", \"5\": \"/World/scene_0/bush_knspbi_2/base_link/visuals\", \"6\": \"/World/scene_0/bush_cwsigt_3/base_link/visuals\", \"7\": \"/World/scene_0/bush_kyghri_2/base_link/visuals\", \"8\": \"/World/scene_0/bush_cwsigt_4/base_link/visuals\", \"9\": 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\"walls_jnbgxj_0\",\n \"category\": \"walls\",\n \"model\": \"jnbgxj\",\n \"scale\": [\n 0.9999818205833435,\n 1.000158429145813,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_jzwmhx_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_jzwmhx_0\",\n \"category\": \"walls\",\n \"model\": \"jzwmhx\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999966025352478,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_lblwvg_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_lblwvg_0\",\n \"category\": \"walls\",\n \"model\": \"lblwvg\",\n \"scale\": [\n 0.999974250793457,\n 0.9998873472213745,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_lovfhw_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_lovfhw_0\",\n \"category\": \"walls\",\n \"model\": \"lovfhw\",\n \"scale\": [\n 0.9998873472213745,\n 0.9998785257339478,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mgumxz_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mgumxz_0\",\n \"category\": \"walls\",\n \"model\": \"mgumxz\",\n \"scale\": [\n 0.9997971057891846,\n 0.999988853931427,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mgvxov_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mgvxov_0\",\n \"category\": \"walls\",\n \"model\": \"mgvxov\",\n \"scale\": [\n 0.9998886585235596,\n 0.9998785257339478,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\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\": \"80acf118157114cffb17d2205bd44b6c\",\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\": \"e7d5eb091d9fb1d54402e23050fd5206\",\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\": \"77a32e0830f3660a5ed62483d5cac240\",\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\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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\": \"e9e1b102347c179e7404ac8c63a057a1\",\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\": \"cfa38d73f5886197dba5e112adfcc07a\",\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\": \"de4be4ceec4d1ed48e605abe3782ada8\",\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\": \"ce0382609f884e45db5568d574f2e732\",\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\": \"0ed21a252059af2ca999e818dfd81cbb\",\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\": \"be4f1289ffe5930678abdd08063eb74a\",\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\": \"326697987c9faf715f6e6116bc9f3801\",\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\": \"db479ab9cc217e69d2cb0748a8fbe312\",\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\": \"8b98d47f8b384604d4211372b3575ebd\",\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\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 7022, + "num_samples": 7022, + "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", + "gym_shoe.n.01_1_real", + "gym_shoe.n.01_1_pos", + 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\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\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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 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}\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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 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\"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 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\"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\"}}, \"tree_rrhqpw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_1\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\"}}, \"tree_rrhqpw_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_rrhqpw_2\", \"category\": \"tree\", \"model\": \"rrhqpw\", \"scale\": [0.6139122843742371, 0.613919198513031, 0.6139238476753235], 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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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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 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null, \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"}}, \"bush_yhjhta_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_2\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"}}, \"bush_yhjhta_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_3\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.5133029222488403, 0.5133182406425476, 0.5133031606674194], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"}}, \"bush_yhjhta_4\": {\"class_module\": 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\"category\": \"tree\", \"model\": \"dyymaq\", \"scale\": [0.7470368146896362, 0.7470313310623169, 0.7470372319221497], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c7cec21fbed88a8afd1e4e62bb7dc741\"}}, \"tree_flkzbo_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_flkzbo_0\", \"category\": \"tree\", \"model\": \"flkzbo\", \"scale\": [0.7470294237136841, 0.747040867805481, 0.7470352649688721], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"650416c499a34f8b011c305ddc24f886\"}}, \"tree_flkzbo_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"tree_flkzbo_1\", \"category\": \"tree\", \"model\": \"flkzbo\", \"scale\": [0.7470294237136841, 0.747040867805481, 0.7470352649688721], 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false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_dewyls_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_dewyls_0\",\n \"category\": \"walls\",\n \"model\": \"dewyls\",\n \"scale\": [\n 1.0000096559524536,\n 0.9997960329055786,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fcae1747905d4fed1bdf50e4e2bc6479\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_dlfarz_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_dlfarz_0\",\n \"category\": \"walls\",\n \"model\": \"dlfarz\",\n \"scale\": [\n 0.9999517202377319,\n 0.999993085861206,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\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\": \"be4f1289ffe5930678abdd08063eb74a\",\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\": \"326697987c9faf715f6e6116bc9f3801\",\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\": \"db479ab9cc217e69d2cb0748a8fbe312\",\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 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\"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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\": \"e9e1b102347c179e7404ac8c63a057a1\",\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\": \"cfa38d73f5886197dba5e112adfcc07a\",\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\": \"de4be4ceec4d1ed48e605abe3782ada8\",\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\": \"ce0382609f884e45db5568d574f2e732\",\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\": \"0ed21a252059af2ca999e818dfd81cbb\",\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\": \"be4f1289ffe5930678abdd08063eb74a\",\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\": \"326697987c9faf715f6e6116bc9f3801\",\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\": \"db479ab9cc217e69d2cb0748a8fbe312\",\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\": \"8b98d47f8b384604d4211372b3575ebd\",\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\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 7392, + "num_samples": 7392, + "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", + "gym_shoe.n.01_1_real", + "gym_shoe.n.01_1_pos", + "gym_shoe.n.01_1_ori_cos", + "gym_shoe.n.01_1_ori_sin", + "gym_shoe.n.01_1_in_gripper_left", + "gym_shoe.n.01_1_in_gripper_right", + "gym_shoe.n.01_2_real", + "gym_shoe.n.01_2_pos", + "gym_shoe.n.01_2_ori_cos", + "gym_shoe.n.01_2_ori_sin", + "gym_shoe.n.01_2_in_gripper_left", + "gym_shoe.n.01_2_in_gripper_right", + "floor.n.01_1_real", + "floor.n.01_1_pos", + "floor.n.01_1_ori_cos", + "floor.n.01_1_ori_sin", + "floor.n.01_1_in_gripper_left", + "floor.n.01_1_in_gripper_right", + "sandal.n.01_1_real", + "sandal.n.01_1_pos", + "sandal.n.01_1_ori_cos", + "sandal.n.01_1_ori_sin", + "sandal.n.01_1_in_gripper_left", + "sandal.n.01_1_in_gripper_right", + "sandal.n.01_2_real", + "sandal.n.01_2_pos", + "sandal.n.01_2_ori_cos", + "sandal.n.01_2_ori_sin", + "sandal.n.01_2_in_gripper_left", + "sandal.n.01_2_in_gripper_right", + "hallstand.n.01_1_real", + "hallstand.n.01_1_pos", + "hallstand.n.01_1_ori_cos", + "hallstand.n.01_1_ori_sin", + "hallstand.n.01_1_in_gripper_left", + "hallstand.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/tree_dyymaq_0/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_5/base_link/visuals\", \"4\": \"/World/scene_0/bush_knspbi_3/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_5/base_link/visuals\", \"6\": \"/World/scene_0/bush_frqici_2/base_link/visuals\", \"7\": \"/World/scene_0/bush_cwsigt_10/base_link/visuals\", \"8\": \"/World/scene_0/bush_lfyqkj_6/base_link/visuals\", \"9\": 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\"walls\",\n \"model\": \"lblwvg\",\n \"scale\": [\n 0.999974250793457,\n 0.9998873472213745,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_lovfhw_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_lovfhw_0\",\n \"category\": \"walls\",\n \"model\": \"lovfhw\",\n \"scale\": [\n 0.9998873472213745,\n 0.9998785257339478,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mgumxz_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mgumxz_0\",\n \"category\": \"walls\",\n \"model\": \"mgumxz\",\n \"scale\": [\n 0.9997971057891846,\n 0.999988853931427,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_mgvxov_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_mgvxov_0\",\n \"category\": \"walls\",\n \"model\": \"mgvxov\",\n \"scale\": [\n 0.9998886585235596,\n 0.9998785257339478,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\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\": \"80acf118157114cffb17d2205bd44b6c\",\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\": \"e7d5eb091d9fb1d54402e23050fd5206\",\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\": \"77a32e0830f3660a5ed62483d5cac240\",\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\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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\": \"e9e1b102347c179e7404ac8c63a057a1\",\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\": \"cfa38d73f5886197dba5e112adfcc07a\",\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\": \"de4be4ceec4d1ed48e605abe3782ada8\",\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\": \"ce0382609f884e45db5568d574f2e732\",\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\": \"0ed21a252059af2ca999e818dfd81cbb\",\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\": \"be4f1289ffe5930678abdd08063eb74a\",\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\": \"326697987c9faf715f6e6116bc9f3801\",\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\": \"db479ab9cc217e69d2cb0748a8fbe312\",\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\": \"8b98d47f8b384604d4211372b3575ebd\",\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\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 12089, + "num_samples": 12089, + "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", + "gym_shoe.n.01_1_real", + "gym_shoe.n.01_1_pos", + 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0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\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\": \"77a32e0830f3660a5ed62483d5cac240\",\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\": 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\"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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\": \"e9e1b102347c179e7404ac8c63a057a1\",\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\": 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\"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\": \"0ed21a252059af2ca999e818dfd81cbb\",\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\": \"be4f1289ffe5930678abdd08063eb74a\",\n \"bddl_object_scope\": null\n }\n },\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\": \"948fd822034ea730f10f722b2bb1be1a\",\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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_75\",\n \"category\": \"sandal\",\n \"model\": \"vwbomj\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n }\n },\n \"sandal_76\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"sandal_76\",\n \"category\": \"sandal\",\n \"model\": \"dfkzbd\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\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\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\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 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\"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\": \"be4f1289ffe5930678abdd08063eb74a\",\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\": \"326697987c9faf715f6e6116bc9f3801\",\n \"bddl_object_scope\": null\n }\n },\n 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\"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\": \"d46233dedb1a367be1e2e28627c7b665\",\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\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"sandal_75\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": 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}\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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 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\"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 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true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n 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[\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n }\n },\n \"gym_shoe_77\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_77\",\n \"category\": \"gym_shoe\",\n \"model\": \"kmcbym\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n }\n },\n \"gym_shoe_78\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"gym_shoe_78\",\n \"category\": \"gym_shoe\",\n \"model\": \"mcfcwq\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"corridor_0\"\n ],\n \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 7002, + "num_samples": 7002, + "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", + "gym_shoe.n.01_1_real", + "gym_shoe.n.01_1_pos", + "gym_shoe.n.01_1_ori_cos", + "gym_shoe.n.01_1_ori_sin", + "gym_shoe.n.01_1_in_gripper_left", + "gym_shoe.n.01_1_in_gripper_right", + "gym_shoe.n.01_2_real", + "gym_shoe.n.01_2_pos", + "gym_shoe.n.01_2_ori_cos", + "gym_shoe.n.01_2_ori_sin", + "gym_shoe.n.01_2_in_gripper_left", + "gym_shoe.n.01_2_in_gripper_right", + "floor.n.01_1_real", + "floor.n.01_1_pos", + "floor.n.01_1_ori_cos", + "floor.n.01_1_ori_sin", + "floor.n.01_1_in_gripper_left", + "floor.n.01_1_in_gripper_right", + "sandal.n.01_1_real", + "sandal.n.01_1_pos", + 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