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\"controller_config\": {\n \"arm_left\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"arm_right\": {\n \"name\": \"JointController\",\n \"motor_type\": \"position\",\n \"pos_kp\": 150,\n \"command_input_limits\": null,\n \"command_output_limits\": null,\n \"use_impedances\": false,\n \"use_delta_commands\": false\n },\n \"gripper_left\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"gripper_right\": {\n \"name\": \"MultiFingerGripperController\",\n \"mode\": \"smooth\",\n \"command_input_limits\": \"default\",\n \"command_output_limits\": \"default\"\n },\n \"base\": {\n \"name\": \"HolonomicBaseJointController\",\n \"motor_type\": \"velocity\",\n \"vel_kp\": 150,\n \"command_input_limits\": [\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": 13446, + "num_samples": 13446, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + 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+ "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"3\": \"/World/scene_0/bush_frqici_0/base_link/visuals\", \"4\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"5\": \"/World/scene_0/bush_cwsigt_0/base_link/visuals\", \"6\": \"/World/scene_0/log_177/base_link/visuals\", \"7\": \"/World/scene_0/log_176/base_link/visuals\", \"8\": \"/World/scene_0/log_175/base_link/visuals\", \"9\": \"/World/scene_0/log_174/base_link/visuals\", \"10\": \"/World/scene_0/axe_173/base_link/visuals\", \"11\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"12\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"16\": 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_kyghri_4/base_link/visuals\", \"3\": \"/World/scene_0/log_177/base_link/visuals\", \"4\": \"/World/scene_0/log_176/base_link/visuals\", \"5\": \"/World/scene_0/log_175/base_link/visuals\", \"6\": \"/World/scene_0/log_174/base_link/visuals\", \"7\": \"/World/scene_0/axe_173/base_link/visuals\", \"8\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"9\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"16\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 14752, + "num_samples": 14752, + "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", + 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"half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_knspbi_5/base_link/visuals\", \"3\": \"/World/scene_0/bush_frqici_0/base_link/visuals\", \"4\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"5\": \"/World/scene_0/log_177/base_link/visuals\", \"6\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 12257, + "num_samples": 12257, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", + "half__log.n.01_1_pos", + "half__log.n.01_1_ori_cos", + "half__log.n.01_1_ori_sin", + "half__log.n.01_1_in_gripper_left", + "half__log.n.01_1_in_gripper_right", + "half__log.n.01_2_real", + "half__log.n.01_2_pos", + "half__log.n.01_2_ori_cos", + "half__log.n.01_2_ori_sin", + "half__log.n.01_2_in_gripper_left", + "half__log.n.01_2_in_gripper_right", + "half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_kyghri_6/base_link/visuals\", \"3\": \"/World/scene_0/log_174/base_link/visuals\", \"4\": \"/World/scene_0/log_177/base_link/visuals\", \"5\": \"/World/scene_0/log_176/base_link/visuals\", \"6\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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\"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": 8462, + "num_samples": 8462, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oiagxk_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oiagxk_0\",\n \"category\": \"walls\",\n \"model\": \"oiagxk\",\n \"scale\": [\n 0.9999501705169678,\n 1.0000206232070923,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_paarsl_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_paarsl_0\",\n \"category\": \"walls\",\n \"model\": \"paarsl\",\n \"scale\": [\n 0.999906599521637,\n 1.0000128746032715,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n 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\"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 13310, + "num_samples": 13310, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + 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"half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_10/base_link/visuals\", \"3\": \"/World/scene_0/bush_kyghri_4/base_link/visuals\", \"4\": \"/World/scene_0/bush_cwsigt_3/base_link/visuals\", \"5\": 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_frqici_2/base_link/visuals\", \"3\": \"/World/scene_0/bush_pjhpwk_0/base_link/visuals\", \"4\": \"/World/scene_0/bush_yhjhta_2/base_link/visuals\", \"5\": \"/World/scene_0/bush_knspbi_2/base_link/visuals\", \"6\": \"/World/scene_0/bush_kyghri_5/base_link/visuals\", \"7\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"8\": \"/World/scene_0/log_177/base_link/visuals\", \"9\": \"/World/scene_0/log_176/base_link/visuals\", \"10\": \"/World/scene_0/log_175/base_link/visuals\", \"11\": \"/World/scene_0/log_174/base_link/visuals\", \"12\": \"/World/scene_0/axe_173/base_link/visuals\", \"13\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"16\": 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 10088, + "num_samples": 10088, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", + "half__log.n.01_1_pos", + "half__log.n.01_1_ori_cos", + "half__log.n.01_1_ori_sin", + "half__log.n.01_1_in_gripper_left", + "half__log.n.01_1_in_gripper_right", + "half__log.n.01_2_real", + "half__log.n.01_2_pos", + "half__log.n.01_2_ori_cos", + "half__log.n.01_2_ori_sin", + "half__log.n.01_2_in_gripper_left", + "half__log.n.01_2_in_gripper_right", + "half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_knspbi_1/base_link/visuals\", \"3\": \"/World/scene_0/bush_kyghri_0/base_link/visuals\", \"4\": \"/World/scene_0/bush_cwsigt_5/base_link/visuals\", \"5\": \"/World/scene_0/bush_yhjhta_4/base_link/visuals\", \"6\": \"/World/scene_0/bush_pjhpwk_2/base_link/visuals\", \"7\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"8\": \"/World/scene_0/bush_cwsigt_1/base_link/visuals\", \"9\": \"/World/scene_0/log_177/base_link/visuals\", \"10\": \"/World/scene_0/log_176/base_link/visuals\", \"11\": \"/World/scene_0/log_175/base_link/visuals\", \"12\": \"/World/scene_0/log_174/base_link/visuals\", \"13\": \"/World/scene_0/axe_173/base_link/visuals\", \"14\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"15\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"16\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 8340, + "num_samples": 8340, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", + "half__log.n.01_1_pos", + "half__log.n.01_1_ori_cos", + "half__log.n.01_1_ori_sin", + "half__log.n.01_1_in_gripper_left", + "half__log.n.01_1_in_gripper_right", + "half__log.n.01_2_real", + "half__log.n.01_2_pos", + "half__log.n.01_2_ori_cos", + "half__log.n.01_2_ori_sin", + "half__log.n.01_2_in_gripper_left", + "half__log.n.01_2_in_gripper_right", + "half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_frqici_3/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_1/base_link/visuals\", \"4\": \"/World/scene_0/bush_kyghri_4/base_link/visuals\", \"5\": \"/World/scene_0/log_177/base_link/visuals\", \"6\": 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1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 12688, + "num_samples": 12688, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/log_175/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_9/base_link/visuals\", \"4\": \"/World/scene_0/bush_cwsigt_4/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_2/base_link/visuals\", \"6\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"7\": \"/World/scene_0/bush_kjakgd_1/base_link/visuals\", \"8\": \"/World/scene_0/bush_pjhpwk_3/base_link/visuals\", \"9\": \"/World/scene_0/bush_yhjhta_4/base_link/visuals\", \"10\": \"/World/scene_0/log_176/base_link/visuals\", \"11\": \"/World/scene_0/log_174/base_link/visuals\", \"12\": \"/World/scene_0/axe_173/base_link/visuals\", \"13\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"14\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"16\": 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_knspbi_5/base_link/visuals\", \"3\": \"/World/scene_0/bush_kjakgd_1/base_link/visuals\", \"4\": \"/World/scene_0/bush_lfyqkj_4/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_5/base_link/visuals\", \"6\": \"/World/scene_0/bush_knspbi_0/base_link/visuals\", \"7\": \"/World/scene_0/log_177/base_link/visuals\", \"8\": \"/World/scene_0/log_176/base_link/visuals\", \"9\": \"/World/scene_0/log_175/base_link/visuals\", \"10\": \"/World/scene_0/log_174/base_link/visuals\", \"11\": \"/World/scene_0/axe_173/base_link/visuals\", \"12\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"13\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"16\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 10901, + "num_samples": 10901, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", + "half__log.n.01_1_pos", + "half__log.n.01_1_ori_cos", + "half__log.n.01_1_ori_sin", + "half__log.n.01_1_in_gripper_left", + "half__log.n.01_1_in_gripper_right", + "half__log.n.01_2_real", + "half__log.n.01_2_pos", + "half__log.n.01_2_ori_cos", + "half__log.n.01_2_ori_sin", + "half__log.n.01_2_in_gripper_left", + "half__log.n.01_2_in_gripper_right", + "half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_frqici_2/base_link/visuals\", \"3\": \"/World/scene_0/bush_pjhpwk_1/base_link/visuals\", \"4\": \"/World/scene_0/bush_knspbi_4/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_5/base_link/visuals\", 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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\"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": 9538, + "num_samples": 9538, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/log_177/base_link/visuals\", \"3\": \"/World/scene_0/bush_frqici_3/base_link/visuals\", \"4\": \"/World/scene_0/log_176/base_link/visuals\", \"5\": \"/World/scene_0/log_175/base_link/visuals\", \"6\": \"/World/scene_0/log_174/base_link/visuals\", \"7\": \"/World/scene_0/axe_173/base_link/visuals\", \"8\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"9\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"16\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 9166, + "num_samples": 9166, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", 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"half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_9/base_link/visuals\", \"3\": \"/World/scene_0/log_177/base_link/visuals\", \"4\": \"/World/scene_0/log_176/base_link/visuals\", \"5\": \"/World/scene_0/log_175/base_link/visuals\", \"6\": \"/World/scene_0/log_174/base_link/visuals\", \"7\": \"/World/scene_0/axe_173/base_link/visuals\", \"8\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"9\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"15\": \"/World/scene_0/bush_knspbi_1/base_link/visuals\", \"16\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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\": 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\"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": 8769, + "num_samples": 8769, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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\"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": 8607, + "num_samples": 8607, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/log_177/base_link/visuals\", \"3\": \"/World/scene_0/log_176/base_link/visuals\", \"4\": \"/World/scene_0/log_175/base_link/visuals\", \"5\": \"/World/scene_0/log_174/base_link/visuals\", \"6\": \"/World/scene_0/axe_173/base_link/visuals\", \"7\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"8\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"15\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oiagxk_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oiagxk_0\",\n \"category\": \"walls\",\n \"model\": \"oiagxk\",\n \"scale\": [\n 0.9999501705169678,\n 1.0000206232070923,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_paarsl_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_paarsl_0\",\n \"category\": \"walls\",\n \"model\": \"paarsl\",\n \"scale\": [\n 0.999906599521637,\n 1.0000128746032715,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n 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\"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 6940, + "num_samples": 6940, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", + "half__log.n.01_1_pos", + "half__log.n.01_1_ori_cos", + "half__log.n.01_1_ori_sin", + "half__log.n.01_1_in_gripper_left", + "half__log.n.01_1_in_gripper_right", + "half__log.n.01_2_real", + "half__log.n.01_2_pos", + "half__log.n.01_2_ori_cos", + "half__log.n.01_2_ori_sin", + "half__log.n.01_2_in_gripper_left", + "half__log.n.01_2_in_gripper_right", + "half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_lfyqkj_3/base_link/visuals\", \"3\": \"/World/scene_0/bush_knspbi_2/base_link/visuals\", \"4\": \"/World/scene_0/log_177/base_link/visuals\", \"5\": \"/World/scene_0/log_176/base_link/visuals\", \"6\": 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null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_11\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_11\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, \"downlight_pawfmw_12\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_pawfmw_12\", \"category\": \"downlight\", \"model\": \"pawfmw\", \"scale\": [1.0000351667404175, 1.0000944137573242, 1.0005167722702026], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"}}, 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_yhjhta_1/base_link/visuals\", \"3\": \"/World/scene_0/bush_lfyqkj_1/base_link/visuals\", \"4\": \"/World/scene_0/charcoal_grill_crdaeu_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"5\": \"/World/scene_0/log_177/base_link/visuals\", \"6\": \"/World/scene_0/log_176/base_link/visuals\", \"7\": \"/World/scene_0/log_175/base_link/visuals\", \"8\": \"/World/scene_0/log_174/base_link/visuals\", \"9\": \"/World/scene_0/axe_173/base_link/visuals\", \"10\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"11\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"15\": 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],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oiagxk_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oiagxk_0\",\n \"category\": \"walls\",\n \"model\": \"oiagxk\",\n \"scale\": [\n 0.9999501705169678,\n 1.0000206232070923,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_oqrbxo_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_oqrbxo_0\",\n \"category\": \"walls\",\n \"model\": \"oqrbxo\",\n \"scale\": [\n 1.000234842300415,\n 1.0000065565109253,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_owxeej_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_owxeej_0\",\n \"category\": \"walls\",\n \"model\": \"owxeej\",\n \"scale\": [\n 0.9999358654022217,\n 1.000019907951355,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_paarsl_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_paarsl_0\",\n \"category\": \"walls\",\n \"model\": \"paarsl\",\n \"scale\": [\n 0.999906599521637,\n 1.0000128746032715,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n 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\"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 11228, + "num_samples": 11228, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", + "half__log.n.01_1_pos", + "half__log.n.01_1_ori_cos", + "half__log.n.01_1_ori_sin", + "half__log.n.01_1_in_gripper_left", + "half__log.n.01_1_in_gripper_right", + "half__log.n.01_2_real", + "half__log.n.01_2_pos", + "half__log.n.01_2_ori_cos", + "half__log.n.01_2_ori_sin", + "half__log.n.01_2_in_gripper_left", + "half__log.n.01_2_in_gripper_right", + "half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_2/base_link/visuals\", \"3\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"4\": \"/World/scene_0/wall_mounted_tv_dxyfxf_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"5\": 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\"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 13309, + "num_samples": 13309, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/log_177/base_link/visuals\", \"3\": \"/World/scene_0/log_176/base_link/visuals\", \"4\": \"/World/scene_0/log_175/base_link/visuals\", \"5\": \"/World/scene_0/log_174/base_link/visuals\", \"6\": \"/World/scene_0/bush_yhjhta_5/base_link/visuals\", \"7\": \"/World/scene_0/door_bexenl_1/leaf/visuals\", \"8\": \"/World/scene_0/door_bexenl_1/base_link/visuals\", \"9\": \"/World/scene_0/picture_ekagyj_0/base_link/visuals\", \"10\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"11\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"12\": \"/World/scene_0/bush_lfyqkj_3/base_link/visuals\", \"13\": \"/World/scene_0/tree_wtyipq_8/base_link/visuals\", \"14\": \"/World/scene_0/fridge_petcxr_0/base_link/visuals\", \"15\": 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\"bddl_object_scope\": null\n }\n },\n \"walls_xsubff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xsubff_0\",\n \"category\": \"walls\",\n \"model\": \"xsubff\",\n \"scale\": [\n 1.0000114440917969,\n 1.0000354051589966,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_xyrbgy_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 7513, + "num_samples": 7513, + "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", + 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"half__log.n.01_3_real", + "half__log.n.01_3_pos", + "half__log.n.01_3_ori_cos", + "half__log.n.01_3_ori_sin", + "half__log.n.01_3_in_gripper_left", + "half__log.n.01_3_in_gripper_right", + "half__log.n.01_4_real", + "half__log.n.01_4_pos", + "half__log.n.01_4_ori_cos", + "half__log.n.01_4_ori_sin", + "half__log.n.01_4_in_gripper_left", + "half__log.n.01_4_in_gripper_right", + "half__log.n.01_5_real", + "half__log.n.01_5_pos", + "half__log.n.01_5_ori_cos", + "half__log.n.01_5_ori_sin", + "half__log.n.01_5_in_gripper_left", + "half__log.n.01_5_in_gripper_right", + "half__log.n.01_6_real", + "half__log.n.01_6_pos", + "half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/log_177/base_link/visuals\", \"3\": \"/World/scene_0/log_176/base_link/visuals\", \"4\": \"/World/scene_0/log_175/base_link/visuals\", \"5\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 11935, + "num_samples": 11935, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + 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"chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_4/base_link/visuals\", \"3\": \"/World/scene_0/log_177/base_link/visuals\", \"4\": \"/World/scene_0/log_176/base_link/visuals\", \"5\": \"/World/scene_0/log_175/base_link/visuals\", \"6\": \"/World/scene_0/log_174/base_link/visuals\", \"7\": \"/World/scene_0/axe_173/base_link/visuals\", \"8\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"9\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"16\": 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\"walls_upttgq_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_upttgq_0\",\n \"category\": \"walls\",\n \"model\": \"upttgq\",\n \"scale\": [\n 0.9997971057891846,\n 1.0000076293945312,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_vxveul_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_vxveul_0\",\n \"category\": \"walls\",\n \"model\": \"vxveul\",\n \"scale\": [\n 0.9999592900276184,\n 1.0000137090682983,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_weybsr_0\": {\n \"class_module\": 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\"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_xyrbgy_0\",\n \"category\": \"walls\",\n \"model\": \"xyrbgy\",\n \"scale\": [\n 1.0,\n 0.9999845027923584,\n 1.0000032186508179\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_ylpkth_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_ylpkth_0\",\n \"category\": \"walls\",\n \"model\": \"ylpkth\",\n \"scale\": [\n 1.0000102519989014,\n 1.000156283378601,\n 1.0000050067901611\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n \"bddl_object_scope\": null\n }\n },\n \"walls_zdhaff_0\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"walls_zdhaff_0\",\n \"category\": \"walls\",\n \"model\": \"zdhaff\",\n \"scale\": [\n 1.0000907182693481,\n 1.0000133514404297,\n 0.9999076128005981\n ],\n \"fixed_base\": true,\n \"visual_only\": false,\n \"in_rooms\": \"\",\n \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n \"bddl_object_scope\": null\n }\n },\n \"chopping_block_172\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"chopping_block_172\",\n \"category\": \"chopping_block\",\n \"model\": \"ekowsj\",\n \"scale\": [\n 0.9872042536735535,\n 1.0054078102111816,\n 6.799535751342773\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"d7015bd636a75205685954f2ce9f0539\"\n }\n },\n \"axe_173\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"axe_173\",\n \"category\": \"axe\",\n \"model\": \"plqyos\",\n \"scale\": [\n 1.0,\n 1.0,\n 1.0\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"bf77161f7eaed4a5850c0524f8fd311b\"\n }\n },\n \"log_174\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_174\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_175\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_175\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_176\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_176\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\n }\n },\n \"log_177\": {\n \"class_module\": \"omnigibson.objects.dataset_object\",\n \"class_name\": \"DatasetObject\",\n \"args\": {\n \"name\": \"log_177\",\n \"category\": \"log\",\n \"model\": \"pepele\",\n \"scale\": [\n 0.6700000166893005,\n 0.6700000166893005,\n 0.6700000166893005\n ],\n \"prim_type\": 0,\n \"in_rooms\": [\n \"garden_0\"\n ],\n \"expected_file_hash\": \"7d0738bf85282b321b6d3d2b23b6fdae\"\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": 7896, + "num_samples": 7896, + "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", + "log.n.01_1_real", + "log.n.01_1_pos", + "log.n.01_1_ori_cos", + "log.n.01_1_ori_sin", + "log.n.01_1_in_gripper_left", + "log.n.01_1_in_gripper_right", + "log.n.01_2_real", + "log.n.01_2_pos", + "log.n.01_2_ori_cos", + "log.n.01_2_ori_sin", + "log.n.01_2_in_gripper_left", + "log.n.01_2_in_gripper_right", + "log.n.01_3_real", + "log.n.01_3_pos", + "log.n.01_3_ori_cos", + "log.n.01_3_ori_sin", + "log.n.01_3_in_gripper_left", + "log.n.01_3_in_gripper_right", + "log.n.01_4_real", + "log.n.01_4_pos", + "log.n.01_4_ori_cos", + "log.n.01_4_ori_sin", + "log.n.01_4_in_gripper_left", + "log.n.01_4_in_gripper_right", + "half__log.n.01_1_real", 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"half__log.n.01_6_ori_cos", + "half__log.n.01_6_ori_sin", + "half__log.n.01_6_in_gripper_left", + "half__log.n.01_6_in_gripper_right", + "half__log.n.01_7_real", + "half__log.n.01_7_pos", + "half__log.n.01_7_ori_cos", + "half__log.n.01_7_ori_sin", + "half__log.n.01_7_in_gripper_left", + "half__log.n.01_7_in_gripper_right", + "half__log.n.01_8_real", + "half__log.n.01_8_pos", + "half__log.n.01_8_ori_cos", + "half__log.n.01_8_ori_sin", + "half__log.n.01_8_in_gripper_left", + "half__log.n.01_8_in_gripper_right", + "driveway.n.01_1_real", + "driveway.n.01_1_pos", + "driveway.n.01_1_ori_cos", + "driveway.n.01_1_ori_sin", + "driveway.n.01_1_in_gripper_left", + "driveway.n.01_1_in_gripper_right", + "ax.n.01_1_real", + "ax.n.01_1_pos", + "ax.n.01_1_ori_cos", + "ax.n.01_1_ori_sin", + "ax.n.01_1_in_gripper_left", + "ax.n.01_1_in_gripper_right", + "chopping_block.n.01_1_real", + "chopping_block.n.01_1_pos", + "chopping_block.n.01_1_ori_cos", + "chopping_block.n.01_1_ori_sin", + "chopping_block.n.01_1_in_gripper_left", + "chopping_block.n.01_1_in_gripper_right" + ], + "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"3\": \"/World/scene_0/log_177/base_link/visuals\", \"4\": \"/World/scene_0/log_176/base_link/visuals\", \"5\": \"/World/scene_0/log_175/base_link/visuals\", \"6\": \"/World/scene_0/log_174/base_link/visuals\", \"7\": \"/World/scene_0/axe_173/base_link/visuals\", \"8\": \"/World/scene_0/chopping_block_172/base_link/visuals\", \"9\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"16\": 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