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a/tasks/Aloha/unseen/collect_two_alarm_clocks/000/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/000/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/000/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/000/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/001/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/001/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/001/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/001/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/002/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/002/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/002/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/002/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/003/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/003/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/003/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/003/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/004/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/004/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/004/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/004/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/005/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/005/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/005/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/005/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/006/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/006/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/006/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/006/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/007/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/007/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/007/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/007/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/008/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/008/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/008/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/008/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/009/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/009/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/009/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/009/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/010/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/010/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/010/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/010/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/011/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/011/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/011/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/011/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/012/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/012/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/012/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/012/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/013/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/013/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/013/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/013/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/014/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/014/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/014/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/014/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/015/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/015/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/015/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/015/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/016/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/016/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/016/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/016/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/017/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/017/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/017/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/017/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/018/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/018/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/018/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/018/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..981f5e0dbd35c48797c82cb9b87909e4ff4cb50e Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/019/config.yaml b/tasks/Aloha/unseen/collect_two_alarm_clocks/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27844a9d27aef9c7aa4c98422a93df2be342aa37 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/019/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.07 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 8c63e5e160064cd3862e4b5f8781032b + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0007 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place1/clock_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_alarm_clocks + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place1/base/instance diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/019/lmdb/info.json b/tasks/Aloha/unseen/collect_two_alarm_clocks/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/collect_two_alarm_clocks/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/collect_two_alarm_clocks/019/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_two_alarm_clocks/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..52e31b1c77ff50d64b2486d54803739512a607a2 Binary files /dev/null and b/tasks/Aloha/unseen/collect_two_alarm_clocks/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/000/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/000/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/000/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/000/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/001/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/001/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/001/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/001/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/002/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/002/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/002/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/002/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/003/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/003/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/003/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/003/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/004/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/004/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/004/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/004/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/005/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/005/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/005/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/005/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/006/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/006/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/006/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/006/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/007/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/007/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/007/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/007/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/008/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/008/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/008/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/008/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/009/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/009/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/009/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/009/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/010/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/010/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/010/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/010/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/011/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/011/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/011/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/011/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/012/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/012/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/012/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/012/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/013/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/013/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/013/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/013/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/014/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/014/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/014/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/014/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/015/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/015/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/015/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/015/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/016/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/016/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/016/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/016/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/017/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/017/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/017/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/017/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a28b078d6368bbf91ab81fd282fc3d62282d4e6a Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/018/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/018/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/018/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/018/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/019/config.yaml b/tasks/Aloha/unseen/gather_three_teaboxes/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e7270a0d79374ef7fbd33ea8ee4f678713d117c --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/019/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object2: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: 0.2 + reset_orientation: true + type: global_range + object3: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + object4: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 0 + random_range_h: 0.3 + random_range_w: 0.2 + random_range_x: -0.05 + random_range_y: -0.5 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + container2: + is_not_rigid: true + type: existed_object + uid_list: + - 398c1b3b8114409a89eb02f9b42f8064 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.0004 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place4/teabox_eval + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/gather_three_teaboxes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place4/base/instance diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/019/lmdb/info.json b/tasks/Aloha/unseen/gather_three_teaboxes/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/gather_three_teaboxes/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/gather_three_teaboxes/019/lmdb/lock.mdb b/tasks/Aloha/unseen/gather_three_teaboxes/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b0acbf1ab1e44b6dbeff5868441cb5040cf503fc Binary files /dev/null and b/tasks/Aloha/unseen/gather_three_teaboxes/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/purchase_gift_box/001/config.yaml b/tasks/Aloha/unseen/purchase_gift_box/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c963d307d8f3a8782832b1763993b9fe542559c --- /dev/null +++ b/tasks/Aloha/unseen/purchase_gift_box/001/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/unseen/purchase_gift_box/001/lmdb/info.json b/tasks/Aloha/unseen/purchase_gift_box/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/purchase_gift_box/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/purchase_gift_box/001/lmdb/lock.mdb b/tasks/Aloha/unseen/purchase_gift_box/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0d05a70f5f48e3124c53a76e7eba00451111f52a Binary files /dev/null and b/tasks/Aloha/unseen/purchase_gift_box/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/purchase_gift_box/005/config.yaml b/tasks/Aloha/unseen/purchase_gift_box/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c963d307d8f3a8782832b1763993b9fe542559c --- /dev/null +++ b/tasks/Aloha/unseen/purchase_gift_box/005/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices_eval + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/unseen/purchase_gift_box/005/lmdb/info.json b/tasks/Aloha/unseen/purchase_gift_box/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/purchase_gift_box/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 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": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/unseen/purchase_gift_box/005/lmdb/lock.mdb b/tasks/Aloha/unseen/purchase_gift_box/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0d05a70f5f48e3124c53a76e7eba00451111f52a Binary files /dev/null and b/tasks/Aloha/unseen/purchase_gift_box/005/lmdb/lock.mdb differ