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cameras/fixed_camera.yml

@@ -0,0 +1,108 @@
+camera1:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.001
+  exists: false
+  focal_length: 5.0
+  frequency: 60
+  horizontal_aperture: 10.0
+  name: camera1
+  orientation:
+  - -0.0071865058262247095
+  - -0.5792785229595211
+  - -0.005107428795172445
+  - 0.815081996576386
+  position:
+  - 0.28070902824401855
+  - -0.02326910011470318
+  - 1.6857764720916748
+  prim_path: /camera1
+  resolution:
+  - 1280
+  - 720
+  vertical_aperture: 5.625
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
+obs_camera:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.01
+  exists: false
+  focal_length: 4.5
+  frequency: 60
+  horizontal_aperture: 6.4
+  name: obs_camera
+  orientation:
+  - 0.0
+  - -0.42261829
+  - 0.0
+  - 0.90630777
+  position:
+  - 0.65
+  - 0.0
+  - 1.85
+  prim_path: /obs_camera
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 4.8
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
+obs_camera_2:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.01
+  exists: false
+  focal_length: 4.5
+  frequency: 60
+  horizontal_aperture: 6.4
+  name: obs_camera_2
+  orientation:
+  - 0.83057843
+  - -0.1464534
+  - 0.34536953
+  - 0.41159539
+  position:
+  - -0.6
+  - -0.75
+  - 1.85
+  prim_path: /obs_camera_2
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 4.8
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
+realsense:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.01
+  exists: true
+  focal_length: 4.5
+  frequency: 60
+  horizontal_aperture: 10.0
+  name: realsense
+  orientation:
+  - 0.0
+  - 0.707106781
+  - 0.0
+  - 0.707106781
+  position:
+  - 0.03
+  - 0.0
+  - 0.025
+  prim_path: /franka/panda_hand/geometry/realsense
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 5.625
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true

tasks/GenManip-Package-Basic/Minimal_Banana/000/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/001/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/002/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/003/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/004/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/005/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/006/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/007/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/008/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/GenManip-Package-Basic/Minimal_Banana/009/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false

tasks/config.yaml

@@ -2,7 +2,7 @@ demonstration_configs: []
 evaluation_configs:
 - domain_randomization:
     cameras:
-      config_path: configs/cameras/fixed_camera.yml
+      config_path: configs/cameras/GenManip-Package-Basic/fixed_camera.yml
       type: fixed
     random_environment:
       has_wall: false