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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": 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],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 5724, + "num_samples": 5724, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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\"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4974, + "num_samples": 4974, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + 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\"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 5717, + "num_samples": 5717, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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72, + 77, + 79, + 82, + 42, + 89, + 92, + 93, + 147, + 106, + 111, + 112, + 113, + 114, + 150, + 115, + 151, + 122, + 127 + ] +} \ No newline at end of file diff --git a/meta/sim/episode_00000013.json b/meta/sim/episode_00000013.json new file mode 100644 index 0000000000000000000000000000000000000000..ef6771537a72f103621db8036e4abdaceed1c37e --- /dev/null +++ b/meta/sim/episode_00000013.json @@ -0,0 +1,227 @@ +{ + "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": 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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 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\"grasping_mode\": \"assisted\",\n \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 5633, + "num_samples": 5633, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": 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\"walls_ldoefg_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ldoefg_0\",\n \"category\": \"walls\",\n \"model\": \"ldoefg\",\n \"scale\": [\n 1.0002321004867554,\n 1.0000122785568237,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_lempwq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_lempwq_0\",\n \"category\": \"walls\",\n \"model\": \"lempwq\",\n \"scale\": [\n 0.9999897480010986,\n 1.0002497434616089,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oglchp_0\": {\n \"class_module\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 5154, + "num_samples": 5154, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": 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\"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": 5651, + "num_samples": 5651, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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],\n \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n \"bddl_object_scope\": null\n }\n },\n \"railing_pqzbbb_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"railing_pqzbbb_0\",\n \"category\": \"railing\",\n \"model\": \"pqzbbb\",\n \"scale\": [\n 0.9999876618385315,\n 1.0000152587890625,\n 0.9999931454658508\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bedroom_2\"\n ],\n \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n \"bddl_object_scope\": null\n }\n },\n \"railing_pqzbbb_2\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"railing_pqzbbb_2\",\n \"category\": \"railing\",\n \"model\": \"pqzbbb\",\n \"scale\": [\n 0.9999876618385315,\n 1.0000152587890625,\n 0.9999931454658508\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n 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\"b649e89db1fbbcbfd0cd18cccec01253\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rscyjh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rscyjh_0\",\n \"category\": \"walls\",\n \"model\": \"rscyjh\",\n \"scale\": [\n 1.0002321004867554,\n 0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n 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\"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\": 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\"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": 3688, + "num_samples": 3688, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"17\": 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150, + 117, + 118, + 119 + ] +} \ No newline at end of file diff --git a/meta/sim/episode_00000085.json b/meta/sim/episode_00000085.json new file mode 100644 index 0000000000000000000000000000000000000000..dadc818808d634eb758858129830902dd53558bf --- /dev/null +++ b/meta/sim/episode_00000085.json @@ -0,0 +1,204 @@ +{ + "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n 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\"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 4832, + "num_samples": 4832, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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\"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": 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\"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 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\"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 5224, + "num_samples": 5224, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 5597, + "num_samples": 5597, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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], + "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [ + 129, + 2, + 3, + 4, + 130, + 153, + 1, + 138, + 11, + 141, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 159, + 160, + 161, + 162, + 165, + 37, + 38, + 39, + 40, + 41, + 172, + 173, + 42, + 43, + 44, + 178, + 179, + 180, + 62, + 63, + 65, + 66, + 67, + 68, + 69, + 142, + 143, + 82, + 83, + 144, + 85, + 92, + 147, + 100, + 148, + 106, + 105, + 121, + 152 + ] +} \ No newline at end of file diff --git a/meta/sim/episode_00000100.json b/meta/sim/episode_00000100.json new file mode 100644 index 0000000000000000000000000000000000000000..c9465cd0ff5d671f89a4c2f5c070eae037b88154 --- /dev/null +++ b/meta/sim/episode_00000100.json @@ -0,0 +1,251 @@ +{ + "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": 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],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 5051, + "num_samples": 5051, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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\"b649e89db1fbbcbfd0cd18cccec01253\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rscyjh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rscyjh_0\",\n \"category\": \"walls\",\n \"model\": \"rscyjh\",\n \"scale\": [\n 1.0002321004867554,\n 0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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\": 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\"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": 5705, + "num_samples": 5705, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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\"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4075, + "num_samples": 4075, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 5228, + "num_samples": 5228, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4875, + "num_samples": 4875, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + 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+} \ No newline at end of file diff --git a/meta/sim/episode_00000171.json b/meta/sim/episode_00000171.json new file mode 100644 index 0000000000000000000000000000000000000000..b559600e4f04375b59712bf871bcd79103d15d1a --- /dev/null +++ b/meta/sim/episode_00000171.json @@ -0,0 +1,243 @@ +{ + "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n 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\"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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\": 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\"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 5667, + "num_samples": 5667, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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\"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": 4647, + "num_samples": 4647, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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],\n \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n \"bddl_object_scope\": null\n }\n },\n \"room_divider_bydmct_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"room_divider_bydmct_0\",\n \"category\": \"room_divider\",\n \"model\": \"bydmct\",\n \"scale\": [\n 1.000349521636963,\n 1.0000001192092896,\n 1.0000749826431274\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bedroom_2\"\n ],\n \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n \"bddl_object_scope\": null\n }\n },\n \"shelf_sapyzl_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"shelf_sapyzl_0\",\n \"category\": \"shelf\",\n \"model\": \"sapyzl\",\n \"scale\": [\n 1.0002144575119019,\n 0.9999921917915344,\n 1.0006431341171265\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bedroom_1\"\n ],\n \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n \"bddl_object_scope\": null\n }\n },\n \"shelf_sapyzl_1\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"shelf_sapyzl_1\",\n \"category\": \"shelf\",\n \"model\": \"sapyzl\",\n \"scale\": [\n 1.0002144575119019,\n 0.9999921917915344,\n 1.0006431341171265\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": [\n \"bedroom_1\"\n ],\n \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n \"bddl_object_scope\": null\n }\n },\n \"wall_mounted_tv_sodbbr_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"wall_mounted_tv_sodbbr_0\",\n \"category\": \"wall_mounted_tv\",\n \"model\": \"sodbbr\",\n \"scale\": [\n 1.000807523727417,\n 1.0000016689300537,\n 0.9999944567680359\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n 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\"in_rooms\": \"\",\n \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_hddwcd_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_hddwcd_0\",\n \"category\": \"walls\",\n \"model\": \"hddwcd\",\n \"scale\": [\n 0.9998137354850769,\n 1.0000065565109253,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_jpdrrk_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_jpdrrk_0\",\n \"category\": \"walls\",\n \"model\": \"jpdrrk\",\n \"scale\": [\n 0.9998674392700195,\n 1.000003695487976,\n 1.0000174045562744\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_oglchp_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oglchp_0\",\n \"category\": \"walls\",\n \"model\": \"oglchp\",\n \"scale\": [\n 1.000198245048523,\n 1.0000457763671875,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rscyjh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rscyjh_0\",\n \"category\": \"walls\",\n \"model\": \"rscyjh\",\n \"scale\": [\n 1.0002321004867554,\n 0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4584, + "num_samples": 4584, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + 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\"b649e89db1fbbcbfd0cd18cccec01253\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rscyjh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rscyjh_0\",\n \"category\": \"walls\",\n \"model\": \"rscyjh\",\n \"scale\": [\n 1.0002321004867554,\n 0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n 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\"4ed6cf0910d2c4a82afbb472a41ccf25\"\n }\n }\n }\n }\n}", + "n_episodes": 1, + "n_steps": 5561, + "num_samples": 5561, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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\"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4225, + "num_samples": 4225, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4433, + "num_samples": 4433, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + 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\"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": 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0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4155, + "num_samples": 4155, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + 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\"b649e89db1fbbcbfd0cd18cccec01253\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_rscyjh_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_rscyjh_0\",\n \"category\": \"walls\",\n \"model\": \"rscyjh\",\n \"scale\": [\n 1.0002321004867554,\n 0.9999890923500061,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_slooel_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_slooel_0\",\n \"category\": \"walls\",\n \"model\": \"slooel\",\n \"scale\": [\n 1.000002145767212,\n 1.0,\n 1.0000054836273193\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vastci_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vastci_0\",\n \"category\": \"walls\",\n \"model\": \"vastci\",\n \"scale\": [\n 1.0001400709152222,\n 1.0000052452087402,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_wjblrc_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_wjblrc_0\",\n \"category\": \"walls\",\n \"model\": \"wjblrc\",\n \"scale\": [\n 0.9999986886978149,\n 0.9999366402626038,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ynhwyn_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ynhwyn_0\",\n \"category\": \"walls\",\n \"model\": \"ynhwyn\",\n \"scale\": [\n 0.9999961256980896,\n 0.9999467134475708,\n 1.0000174045562744\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zlekao_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zlekao_0\",\n \"category\": \"walls\",\n \"model\": \"zlekao\",\n \"scale\": [\n 0.9997971057891846,\n 0.9999727010726929,\n 1.0000176429748535\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n \"bddl_object_scope\": null\n }\n },\n \"scrub_brush_86\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"scrub_brush_86\",\n \"category\": \"scrub_brush\",\n \"model\": \"hsejyi\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n }\n },\n \"trumpet_87\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"trumpet_87\",\n \"category\": \"trumpet\",\n \"model\": \"bafgow\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"bedroom_0\"\n ],\n \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4160, + "num_samples": 4160, + "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", + "cornet.n.01_1_real", + "cornet.n.01_1_pos", + "cornet.n.01_1_ori_cos", + "cornet.n.01_1_ori_sin", + "cornet.n.01_1_in_gripper_left", + "cornet.n.01_1_in_gripper_right", + "scrub_brush.n.01_1_real", + "scrub_brush.n.01_1_pos", + "scrub_brush.n.01_1_ori_cos", + "scrub_brush.n.01_1_ori_sin", + "scrub_brush.n.01_1_in_gripper_left", + "scrub_brush.n.01_1_in_gripper_right", + "desk.n.01_1_real", + "desk.n.01_1_pos", + "desk.n.01_1_ori_cos", + "desk.n.01_1_ori_sin", + "desk.n.01_1_in_gripper_left", + "desk.n.01_1_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" + ], + "ins_id_mapping": "{\"0\": 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