Add files using upload-large-folder tool

cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml

@@ -0,0 +1,129 @@
+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
+  camera_params:
+  - 606.9908447265625
+  - 606.4873046875
+  - 321.7320556640625
+  - 260.7581787109375
+  - 640
+  - 480
+  orientation:
+  - 0.827804
+  - -0.118445
+  - 0.240595
+  - 0.492774
+  position:
+  - -0.54772
+  - -0.79264
+  - 1.64032
+  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
+  camera_params:
+  - 606.9908447265625
+  - 606.4873046875
+  - 321.7320556640625
+  - 260.7581787109375
+  - 640
+  - 480
+  orientation:
+  - 0.0
+  - -0.42261829
+  - 0.0
+  - 0.90630777
+  position:
+  - 0.65
+  - 0.0
+  - 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
+  camera_params:
+  - 609.7937622070312
+  - 608.916259765625
+  - 323.5913391113281
+  - 236.7676239013672
+  - 640
+  - 480
+  orientation:
+  - 0.0
+  - 0.572857
+  - 0.0
+  - 0.819655
+  position:
+  - 0.07405
+  - -0.032
+  - 0.02149
+  prim_path: /robotiq/arm/panda_link8/realsense
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 5.625
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true

scenes/scene_usds/sim2real_scenes_align_for_scaling/base/.collect.mapping.json

@@ -0,0 +1,29 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/shared/smartbot_new/gaoning/GenManip-Sim/saved/assets/scene_usds/sim2real_scenes_align_for_scaling/base.usd",
+            "source_hash": "9574f2f50c92f9e9907a7fb9431027f1a47eaeb7",
+            "target_url": "./base.usd",
+            "target_hash": "e422e538406c84891153342a8d77ea8b9bb887b1"
+        },
+        {
+            "source_url": "/shared/smartbot/genmanip/assets/scene_usds/sim2real_scenes/Downloads/brown_photostudio_02_4k.exr",
+            "source_hash": "00a81b778131ff0856b6dbb0ef4a2e1f6fec4e3b",
+            "target_url": "./smartbot/genmanip/assets/scene_usds/sim2real_scenes/Downloads/brown_photostudio_02_4k.exr",
+            "target_hash": "fff2917468b41a5cb4d49a432357dbdd6ee5da63"
+        },
+        {
+            "source_url": "/shared/smartbot/genmanip/assets/scene_usds/sim2real_scenes/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture0.png",
+            "source_hash": "d88133ba95e57546f7f176bd7c6576df765b25fa",
+            "target_url": "./smartbot/genmanip/assets/scene_usds/sim2real_scenes/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture0.png",
+            "target_hash": "656e334f7da3ffbe1369ee7219da3a8471548783"
+        },
+        {
+            "source_url": "/shared/smartbot/genmanip/assets/scene_usds/sim2real_scenes/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture1.png",
+            "source_hash": "aa9a47d34bb46e8a0b12a481ee35c5e8a997a763",
+            "target_url": "./smartbot/genmanip/assets/scene_usds/sim2real_scenes/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture1.png",
+            "target_hash": "55da09e72cddfb374ea516452300796abe4e5e3f"
+        }
+    ]
+}

scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance.usda

@@ -0,0 +1,78 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary omni_layer = {
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+            float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
+            float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
+            float3 "rtx:index:backgroundColor" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMax" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMin" = (0, 0, 0)
+            float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gain" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:offset" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:saturation" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gain" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:lift" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:multiply" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:offset" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1)
+            float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2)
+            float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75)
+            float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50)
+            float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1)
+            float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32)
+            float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
+            float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
+            float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
+            double "rtx:translucency:worldEps" = 0.005
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1.0
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Render" (
+    hide_in_stage_window = true
+)
+{
+}
+
+def Xform "World"
+{
+    def "_instance" (
+        prepend payload = @./instance.usd@
+    )
+    {
+        float3 xformOp:rotateXYZ = (0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+    }
+}
+
+def Xform "Environment"
+{
+    double3 xformOp:rotateXYZ = (0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0051/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/cbb36818144642b7b8183cf1ffdce407.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/cc0099a687194a31a052ac761f5fdfea.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/eb9eabb6ec0b4630bc28714a097c9c9f.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/2a77a1c27b604f038138e16116091ae7.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7416f0f3e04c48d1af25778171256341.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/49901da020e2493dab494e9bc8997f72.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/d66be869bfc34004b6b72c4467de63dd.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/22167c46e1054f218aa7a59b8239e650.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/26338a22392a445ab48369959d840917.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0051
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0051/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0058/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4cabff429ac84eb0881fdebb4b202f68.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1509b394dcfa4451ba7ebdaf7fc7a808.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/d66be869bfc34004b6b72c4467de63dd.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4a433d5fb6b14616b177c94d48367fa5.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/f2c5b10679c24eefbd3bb04e23061883.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c87c165843df4aaa885ff4437d5174d2.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/2a77a1c27b604f038138e16116091ae7.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/44d5052c398248ddb3e4d521cae035a9.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/d7507a0caaec454aa6ebb7f0d6d5a261.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/49cdc200eaf640489b99ca818165427a.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0058
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0058/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0096/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/cfc49bcb02134ecea34f4fda58f00590.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/a32ceebeeb05416292f56196148d4830.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/6446a7cd02244b92950432b25eafee06.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/ff0dd18a3f264ec1bd4dc3f0fcc0209a.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/9db9943054454fa19fcb2ed29cf26a68.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/8795471e399040f6bf10813221f6dc22.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c049b6a929654d8dab3a2d896792382f.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/d5880c5272294a908cd65431840b69d5.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/6dcf6587c3234d47993dd79df008f4ac.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/b143c2bd61ef48779b25da2114cfb4c4.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/b23f88b379224afeafe029642b62f899.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0096
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0096/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0105/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/9c9f21a0a5404b4083be16376415e7a7.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e0081c37bdfe48b08eeed7abb426677a.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/f11824af7ffa4e0ba012fcc9cda3dcab.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/b6d728b57c8846f7bf7d1722d456c574.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/96ef35ea0f4e4a5b87e8e91722f2c36b.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c8027aa24f614ac2acdf76037814b3ee.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/aa7d98734c7644f787bff33a5a0e25e4.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7ef9d0673cc6423a9542470d435f09e3.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/348e4a9916fb41eb94a90ceee14b4284.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/b3e3d7ec50604e8b8024045828b22233.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/5eb868652fdc4531990e9e5454e00d89.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0105
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0105/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0117/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/bfae016fbb0d4c5586131dae5b18ea02.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/38232c0c87d641ac8632d846de3821a7.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/0796e23ab5c0448c9bdf3fe5c3b3e362.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/673dbc21651f432aabf7788b2d0cb8e3.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/68a23aa70dc84a9a8d27f902a9b3b5e4.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/ad69f4e6e234449d85ffe5b7c8be467d.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/bf1ef1e7852a40ef82efdc73311103d0.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/11e4dc5a15ca4f04b39867e18a026581.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/413e20559a1a45e7bc2e873946b78d22.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/b6839d41e73c4fb7b5ad3caa17a13266.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/a6995104b99c4399a20bc4e0031fbf8b.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0117
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0117/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0138/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1683e4db051847cb8a5a38786e071d2c.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/f5a15ee9d42b4154b8e66541b9ae1a0f.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/958773dd534349d08040acede85d78e3.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7d572663201440f29ee52ae87e1a7bd5.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/29a9f10274f04aedb1d5103a08ad011a.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/d18692ce01d74c368ab953812e3b80d0.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/f5e544d356284a7fa8f20fbeac42ba6a.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e893e916a18e41cda830073fb94ad0d5.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/74429e1800d1488899fa71569f2d114e.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/502ff900e8ec4612acdde695650dd3cc.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/a14d471ffda04d38a1910b9ef87e8dff.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0138
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0138/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0142/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c3cc5a3e1b5f47cbaf841aee7125b759.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/843097ce271b4871aa367c9cc2ff3e38.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/50ae9e262730477896c1a654c4c78344.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/b77ff389442745f399221f3c29e4f427.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/edbb7502a3f54d638f7b66aaf3716b80.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/ff9b8718760f45caa6f1f77815221d80.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/5e502c286bac462cbe2f8b37c351c1dc.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/68f02119f23b46f688831ae411973ab9.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/013755b44b7445fc8d4c864febe96c59.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/d69f166807594444aaf8b1c72480e7bc.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/11a459d53cd04ff69da21d96ce848aec.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0142
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0142/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0157/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/3b933fea04cb486ab3a0d651ab7fb69d.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/82284b454e04439f9d2019407bd87b11.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/93be3863184d49b8b8b14184ed8595fb.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/2227352d74d9471ebdd17e8e4cbab211.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/958773dd534349d08040acede85d78e3.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7d572663201440f29ee52ae87e1a7bd5.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/d18692ce01d74c368ab953812e3b80d0.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c0c65d7ef38e4babb14cebbde7bdaa0f.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1683e4db051847cb8a5a38786e071d2c.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/df6d287b16c1480a8cb91774a77544d9.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/b23f88b379224afeafe029642b62f899.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0157
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0157/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0158/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c76b988cb4394ecbbe6fecc56261d9c7.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/ca37b2a37380441d91bbdd54be53a40e.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7f6e543144fd4bb59472d90442469363.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/d695caf6372e43fbb1cfe13273d32c07.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/795fed5bd7634836a668b06d8c8501e3.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/919a347dfcff40fdbe0eaf29b3210f1b.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4bdaabd27e674c60a0f1fd89be3d073a.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e621a3c13bad4fccbfb92a65148d3140.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1b13667bf6ef4ff583db26b608b0c50e.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/f2477b1e3868442bb06027341e040b99.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/44e20762d5e944c5adf51117c2c2f152.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0158
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0158/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0165/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e0bfc49fde124fb89cd5cacb0be1a1d6.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e1f96691aaf648b885d927f5c3f5be61.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/527afc8f11ab4182a0d2c414a04c819d.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/cf1fd797bc2b47e881800ce02f3d35f6.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e60666a29ba547ba90ccb7c48389dd4a.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/134f666a480347b8a1be2867e17fcdf5.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e451c15161684f3c98eba02e9bbbd987.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/36c7d2d215f34b30b99911ec3ff63c04.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e4a7ac2fe26443a4b9a786634a43f6e0.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/f558577f954040dba86ab2d353f52d06.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/53628a1dd6854be892a512b62682d1e0.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0165
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0165/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0176/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/ab2c596122b54f14a613b3d54b7191e3.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/b951f91631ac43fcbd5a2d8108f93078.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/85fc6c47742b43cca47b92cc76a5a1e9.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e16617aad7e0489a973cfc6bd896d0c5.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/cc19391032eb4ff7872b274df375801e.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7b9f97c496f9411595e46ebf7cb143ed.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/5d9f94e4f5034d8cba3ac4b05dbc06ad.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/8f1b662cfb074fc4b6b14298b2888f2a.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e39cc079f57748a5b1c16d22557cf1f6.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/7c6f89f1556c4b5aa159532c9f04038c.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/396166abc2844949a478b935b4e6a939.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0176
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0176/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0187/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/78fe14d4e6f3431686142a9faa75af49.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/a5e0295a1ad74ecea016e0ba50871d7c.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4d1735ef095044209e9ac12e60aec30a.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/77ed5909312443228f8fed16b054a3a5.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/43dd26e234e042808532b53e67c5eed9.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4949ac257c7848c7a6c9149218ecfaae.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1361d022a4b3434bafec50440f5a748e.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/fb56f8968a9c443897498a9ccf5c46d1.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/3ebfecf376f94fc5aaccf038af8c6a13.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/34380eb566034cd5b1877527ee7bdc4c.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/64402258bbcc4c99b648057f8bd2aed6.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0187
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0187/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0196/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/643c1f4119ac44d7884f4d873cb7c3f2.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/5015b913bbb248c28c44dd7eb94d66d1.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/2f0834bae0a34394aca0cf81632243cc.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/062b547dbd9a42ce94ff0c94ab9ce3af.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4b32a7bec1f84ac596ace30455bd48eb.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/fbccbe1a047f421cbfd815dc3682faee.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/f59e59ddee214b408227dfc67fc96606.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/cd19bf5a5faa4347b35c5eaf2954e824.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c268b7cb334b4d2a8ccfaad3219603b3.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/617a116f52c34bb09008f8c8eaa3c052.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/6a575ec757024924b9844d85f3afaa1e.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0196
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0196/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0219/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/43dd26e234e042808532b53e67c5eed9.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/4d1735ef095044209e9ac12e60aec30a.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/a1e5e2a37d6a42299dcd5cec06cd1ddc.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/04eebb0543df40bda1034ddefe0047f8.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/54d77ed2b16e48848425a9f36b69bb8a.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1f181a44ea0f42baae3c58cf9a934108.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/9abcef6367b8404e89face583208985a.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/30b0d95d5f0b4de986957b34a22cb108.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/858f8c952ab74dbd87882e043f78df03.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/99cd51a8f0c0478088296520c60d5c65.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/570bc55394744fe481863431259da3fe.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0219
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0219/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0246/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/1e8d2897bdbc4f8fb2b8ed9ab9fac453.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/b0ed331c418d4959a3f050ce88f47346.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/2345e56662504ece977525901a593b43.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/b57fa59a8e98488a8cc07d26388b143b.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/e4c3bee31852483abc1936b2481f4d94.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/8a5b6393546844d4913f0888042b90db.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/ec8a106f32e04f05b722f20ef4b45bcd.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c897e6cd6b7b4631b43c0a98469dac17.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/16969cfef8de45eaaa73d2560b100be9.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/5404f764e6054d83ab563037d6c3dabe.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/a3a5af14a6ef47fea2e513140503df1a.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0246
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0246/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0261/000/config.yaml

@@ -0,0 +1,242 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/GenManip-Package-OOC_Bench/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
+      type: fixed
+    object_data_path: objaverse_annotation_refined_container_selection
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position:
+        random_range: 0.05
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: true
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - obj1_0
+        obj2_uid:
+        - obj2
+        position:
+        - top
+    mode: random_all
+    planner: curobo
+    reset_tcp: true
+  instruction: ''
+  layout_config:
+    custom_tableset:
+      background_0:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_1:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_2:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_3:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_4:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_5:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_6:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_7:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      background_8:
+        random_range_angle: 360
+        random_range_h: 20
+        random_range_w: 20
+        random_range_x: -10
+        random_range_y: -10
+        type: global_range
+      obj1_0:
+        random_range_angle: 360
+        random_range_h: 0.35
+        random_range_w: 0.2
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+      obj2:
+        random_range_angle: 360
+        random_range_h: 0.7
+        random_range_w: 0.4
+        random_range_x: -0.2
+        random_range_y: -0.35
+        type: global_range
+    ignored_objects: []
+    in_order: true
+    type: random_custom_tableset
+  mode: manual
+  num_test: 1
+  object_config:
+    background_0:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/47ada0835eb647219ee3e385a8fea1b5.usd
+      type: add_additional_object_from_path
+    background_1:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/c76b988cb4394ecbbe6fecc56261d9c7.usd
+      type: add_additional_object_from_path
+    background_2:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/dac3b8e43f3e4b48bc0f7d05031b8866.usd
+      type: add_additional_object_from_path
+    background_3:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/bb14ee2eadb144c69d6267a36ea19a17.usd
+      type: add_additional_object_from_path
+    background_4:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/795fed5bd7634836a668b06d8c8501e3.usd
+      type: add_additional_object_from_path
+    background_5:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/24e08392fa484f9b8de902982eded814.usd
+      type: add_additional_object_from_path
+    background_6:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/7f6e543144fd4bb59472d90442469363.usd
+      type: add_additional_object_from_path
+    background_7:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/88bfa0c9b60a4892b0e14824fccd9e1e.usd
+      type: add_additional_object_from_path
+    background_8:
+      clip_range:
+        max: 0.2
+        min: 0.05
+      filter_rule: []
+      is_not_rigid: true
+      path: object_usds/objaverse_usd/754ff778bac64db5b6f92516f8259974.usd
+      type: add_additional_object_from_path
+    obj1_0:
+      clip_range:
+        max: 0.15
+        min: 0.05
+      filter_rule:
+      - can_grasp
+      option:
+      - adjust_thickness
+      path: object_usds/objaverse_usd_jinyu_V3/56d3576ceea740f7a42118dd008ac664.usd
+      type: add_additional_object_from_path
+    obj2:
+      clip_range:
+        max: 0.35
+        min: 0.2
+      filter_rule:
+      - is_container
+      option:
+      - force_top
+      path: object_usds/objaverse_usd/35fccced96e84be5b5203442c7e0f994.usd
+      type: add_additional_object_from_path
+  preprocess_config:
+  - config:
+      type: ccd
+    type: ccd
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: robotiq
+    default_joint_positions:
+    - 0.0
+    - -0.785
+    - 0.0
+    - -2.356
+    - 0.0
+    - 1.57079
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-OOC_Bench/ooc_bench300_0261
+  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance

tasks/GenManip-Package-OOC_Bench/ooc_bench300/scene_0261/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[606.7390747070312, 0.0, 320.0], [0.0, 606.7390747070312, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[609.3550415039062, 0.0, 320.0], [0.0, 609.3550415039062, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/left_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}, {"idx": 6, "name": "tcp6", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.826732151480158e-18, -0.0006632553307063943, 0.019224999999999992]}, {"idx": 7, "name": "tcp7", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [0.010999999999999998, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 8, "name": "tcp8", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-0.011000000000000001, -0.0006640053307063951, -0.0012749999999999984]}, {"idx": 9, "name": "tcp9", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger_pad", "position": [-1.520478603183384e-18, -0.0031640053307063973, -0.0012749999999999984]}, {"idx": 10, "name": "tcp10", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "Robotiq_2F_85/right_inner_finger", "position": [-9.344310000000314e-05, -0.011902500000000003, 0.029499999999999985]}]}