{
    "env_info": {
      "env_name": "",
      "robot": "PandaOmron",
      "controller_configs": {
        "type": "HYBRID_MOBILE_BASE",
        "body_parts": {
          "right": {
            "type": "OSC_POSE",
            "input_max": 1,
            "input_min": -1,
            "output_max": [0.085, 0.085, 0.085, 0.125, 0.125, 0.125],
            "output_min": [-0.085, -0.085, -0.085, -0.125, -0.125, -0.125],
            "kp": 120,
            "damping_ratio": 1.5,
            "impedance_mode": "fixed",
            "kp_limits": [0, 300],
            "damping_ratio_limits": [0, 10],
            "input_type": "delta",
            "input_ref_frame": "base",
            "interpolation": "cubic",
            "ramp_ratio": 0.4,
            "gripper": {
              "type": "GRIP"
            }
          },
          "torso": {
            "type": "JOINT_POSITION",
            "interpolation": "null",
            "kp": 2000
          },
          "base": {
            "type": "JOINT_VELOCITY",
            "interpolation": "null"
          }
        },
        "composite_controller_specific_configs": {
          "body_part_ordering": ["right", "right_gripper", "base", "torso"]
        }
      },
      "gripper_types": "Robotiq140Gripper",
      "layout_and_style_ids": [[]],
      "translucent_robot": true,
      "obj_instance_split": "A"
    },
    "camera_configs": {
        "robot0_eye_in_hand": {
          "position": { "x": 0.05, "y": 0, "z": 0 },
          "quaternion": { "w": 0, "x": 0.707107, "y": 0.707107, "z": 0 },
          "field_of_view": "45",
          "description": "Eye-in-hand camera mounted on gripper"
        },
        "robot0_agentview_left": {
          "position": { "x": -0.5, "y": 0.35, "z": 1.05 },
          "quaternion": { "w": 0.55623853, "x": 0.29935253, "y": -0.37678665, "z": -0.6775092 },
          "field_of_view": "60",
          "description": "Shoulder camera mounted on robot base"
        },
        "robot0_agentview_right": {
          "position": { "x": -0.5, "y": -0.35, "z": 1.05 },
          "quaternion": { "w": 0.6775091886520386, "x": 0.3767866790294647, "y": -0.2993525564670563, "z": -0.55623859167099 },
          "field_of_view": "60",
          "description": "Shoulder camera mounted on robot base"
        },
        "robot0_agentview_center": {
          "position": { "x": -0.6, "y": 0, "z": 1.15 },
          "quaternion": { "w": 0.636945903301239, "x": 0.3325185477733612, "y": -0.3199238181114197, "z": -0.6175596117973328 },
          "field_of_view": "45",
          "description": "Shoulder camera mounted on robot base at height 1.15m"
        }
      },
      "layout_and_style_keys": {
      "layout": {
        "0": "ONE_WALL_SMALL"
      },
      "style": {
        "0": "INDUSTRIAL",
        "1": "SCANDANAVIAN".
        "2": "COASTAL",
        "3": "MODERN_1",
        "4": "MODERN_2",
        "6": "TRADITIONAL_2",
        "7": "FARMHOUSE",
        "8": "RUSTIC",
        "9": "MEDITERRANEAN",
        "11": "TRANSITIONAL_2"
      }
    }
  }