diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/000/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/000/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/000/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/001/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/001/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/001/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/002/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/002/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/002/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/003/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/003/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/003/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/004/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/004/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/004/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/005/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/005/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/005/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/006/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/006/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/006/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/007/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/007/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/007/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/008/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/008/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/008/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/009/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/009/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/009/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/010/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/010/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/010/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/011/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/011/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/011/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/012/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/012/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/012/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/013/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/013/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/013/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/014/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/014/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/014/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/015/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/015/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/015/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/016/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/016/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/016/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/017/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/017/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/017/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a5af2fe02f1fe90aef51264c90adea89304da0d9 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/018/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/018/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/018/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_alarm_clocks/019/config.yaml b/tasks/Aloha/seen/collect_two_alarm_clocks/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d46b1d94aa3f7304bde6935c9404008cb83cebe1 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/collect_two_alarm_clocks/019/lmdb/info.json b/tasks/Aloha/seen/collect_two_alarm_clocks/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/collect_two_alarm_clocks/019/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_alarm_clocks/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d6284c31c6e7dc554a3969904a7ba453f7f612fb Binary files /dev/null and b/tasks/Aloha/seen/collect_two_alarm_clocks/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/000/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/000/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/000/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/001/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/001/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/001/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/002/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/002/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/002/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/003/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/003/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/003/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/004/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/004/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/004/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/005/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/005/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/005/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/006/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/006/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/006/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/007/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/007/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/007/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/008/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/008/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/008/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/009/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/009/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/009/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/010/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/010/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/010/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/011/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/011/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/011/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/012/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/012/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/012/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/013/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/013/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/013/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/014/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/014/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/014/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/015/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/015/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/015/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/016/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/016/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/016/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/017/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/017/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/017/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/018/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/018/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/018/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6795566ece137f48a63a69212eda949802c13a7 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/gather_three_teaboxes/019/config.yaml b/tasks/Aloha/seen/gather_three_teaboxes/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc34b8408392dda19be321c9eafa4b162ae3e6c2 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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/seen/gather_three_teaboxes/019/lmdb/info.json b/tasks/Aloha/seen/gather_three_teaboxes/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/gather_three_teaboxes/019/lmdb/lock.mdb b/tasks/Aloha/seen/gather_three_teaboxes/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4e24426458680bd4bc30d1a63a5160b4f9005b86 Binary files /dev/null and b/tasks/Aloha/seen/gather_three_teaboxes/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/002/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/002/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/002/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/002/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/003/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/003/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/003/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/003/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/006/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/006/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/006/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/006/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/007/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/007/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/007/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/007/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/008/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/008/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/008/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/008/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/009/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/009/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/009/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/009/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/010/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/010/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/010/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/010/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/011/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/011/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/011/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/011/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/012/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/012/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/014/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/014/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/015/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/015/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/015/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/015/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/016/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/016/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/016/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/016/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/019/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/019/config.yaml @@ -0,0 +1,354 @@ +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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/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_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/019/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/seen/organize_colorful_cups/019/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/000/config.yaml b/tasks/Aloha/seen/purchase_gift_box/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/000/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 + 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 + 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 + 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 + 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/seen/purchase_gift_box/000/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/seen/purchase_gift_box/000/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/001/config.yaml b/tasks/Aloha/seen/purchase_gift_box/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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/seen/purchase_gift_box/001/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/purchase_gift_box/001/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/004/config.yaml b/tasks/Aloha/seen/purchase_gift_box/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/004/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 + 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 + 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 + 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 + 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/seen/purchase_gift_box/004/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/seen/purchase_gift_box/004/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/005/config.yaml b/tasks/Aloha/seen/purchase_gift_box/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/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 + 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 + 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 + 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 + 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/seen/purchase_gift_box/005/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/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/seen/purchase_gift_box/005/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/012/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/seen/purchase_gift_box/012/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/013/config.yaml b/tasks/Aloha/seen/purchase_gift_box/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/013/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 + 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 + 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 + 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 + 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/seen/purchase_gift_box/013/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/seen/purchase_gift_box/013/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/017/config.yaml b/tasks/Aloha/seen/purchase_gift_box/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/017/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 + 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 + 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 + 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 + 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/seen/purchase_gift_box/017/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/seen/purchase_gift_box/017/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_three_glues/002/config.yaml b/tasks/Aloha/unseen/collect_three_glues/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e9045e07af321f2f34ee51f90049e34caec8937 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/base/instance diff --git a/tasks/Aloha/unseen/collect_three_glues/002/lmdb/info.json b/tasks/Aloha/unseen/collect_three_glues/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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/collect_three_glues/002/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_three_glues/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..38d765abc7a4b9ed977151cd0701fb50fd177d21 Binary files /dev/null and b/tasks/Aloha/unseen/collect_three_glues/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_three_glues/006/config.yaml b/tasks/Aloha/unseen/collect_three_glues/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e9045e07af321f2f34ee51f90049e34caec8937 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/base/instance diff --git a/tasks/Aloha/unseen/collect_three_glues/006/lmdb/info.json b/tasks/Aloha/unseen/collect_three_glues/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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/collect_three_glues/006/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_three_glues/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f5391fd3ed79b5b870b815e223d454265670f432 Binary files /dev/null and b/tasks/Aloha/unseen/collect_three_glues/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_three_glues/014/config.yaml b/tasks/Aloha/unseen/collect_three_glues/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e9045e07af321f2f34ee51f90049e34caec8937 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/base/instance diff --git a/tasks/Aloha/unseen/collect_three_glues/014/lmdb/info.json b/tasks/Aloha/unseen/collect_three_glues/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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/collect_three_glues/014/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_three_glues/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..38d765abc7a4b9ed977151cd0701fb50fd177d21 Binary files /dev/null and b/tasks/Aloha/unseen/collect_three_glues/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_three_glues/018/config.yaml b/tasks/Aloha/unseen/collect_three_glues/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e9045e07af321f2f34ee51f90049e34caec8937 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/base/instance diff --git a/tasks/Aloha/unseen/collect_three_glues/018/lmdb/info.json b/tasks/Aloha/unseen/collect_three_glues/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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/collect_three_glues/018/lmdb/lock.mdb b/tasks/Aloha/unseen/collect_three_glues/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..38d765abc7a4b9ed977151cd0701fb50fd177d21 Binary files /dev/null and b/tasks/Aloha/unseen/collect_three_glues/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/collect_three_glues/019/config.yaml b/tasks/Aloha/unseen/collect_three_glues/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e9045e07af321f2f34ee51f90049e34caec8937 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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 + - -0.1 + 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: + - 74c95870e2a141a9903815715d25b8a7 + without_colliders: true + object1: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object2: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object3: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_eval + type: load_object_from_path + without_colliders: true + object4: + filter_rule: [] + fixed_scale: 0.001 + max_cached_num: 10 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/object_place2/glue_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_three_glues + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place2/base/instance diff --git a/tasks/Aloha/unseen/collect_three_glues/019/lmdb/info.json b/tasks/Aloha/unseen/collect_three_glues/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/unseen/collect_three_glues/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/put_drink_on_basket/000/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/000/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/000/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/000/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1a53654e3bd2f69e7d307cf3be00383ee607ad83 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/001/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/001/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/001/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/001/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7959c7479ecc270a5e48b6f96e234280d30aa3a0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/002/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/002/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/002/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/002/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1a53654e3bd2f69e7d307cf3be00383ee607ad83 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/003/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/003/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/003/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/003/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7959c7479ecc270a5e48b6f96e234280d30aa3a0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/004/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/004/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/004/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/004/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1a53654e3bd2f69e7d307cf3be00383ee607ad83 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/005/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/005/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/005/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/005/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7959c7479ecc270a5e48b6f96e234280d30aa3a0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/006/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/006/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/006/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/006/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7959c7479ecc270a5e48b6f96e234280d30aa3a0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/007/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/007/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/007/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/007/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7959c7479ecc270a5e48b6f96e234280d30aa3a0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/008/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/008/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/008/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/008/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7959c7479ecc270a5e48b6f96e234280d30aa3a0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/009/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a653e265cd6553f6897ff154472bedf02cec48c --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/009/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_eval + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/009/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/009/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1a53654e3bd2f69e7d307cf3be00383ee607ad83 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/010/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/010/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/010/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/010/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c24a9d1cbc3a7fe66a5ac8c4aea655b6c03c6768 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/011/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/011/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/011/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/011/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..023e6b8cba2ad48182df003fa8d7b66bc555c6b0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/012/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/012/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/012/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/012/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c24a9d1cbc3a7fe66a5ac8c4aea655b6c03c6768 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/013/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/013/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/013/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/013/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..023e6b8cba2ad48182df003fa8d7b66bc555c6b0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/014/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/014/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/014/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/014/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..023e6b8cba2ad48182df003fa8d7b66bc555c6b0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/015/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/015/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/015/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/015/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c24a9d1cbc3a7fe66a5ac8c4aea655b6c03c6768 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/016/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/016/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/016/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/016/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..023e6b8cba2ad48182df003fa8d7b66bc555c6b0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/017/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/017/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/017/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/017/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..023e6b8cba2ad48182df003fa8d7b66bc555c6b0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/018/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/018/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/018/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/018/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..023e6b8cba2ad48182df003fa8d7b66bc555c6b0 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/unseen/put_drink_on_basket/019/config.yaml b/tasks/Aloha/unseen/put_drink_on_basket/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7aef0c8a8bfa75758f2ab3d547db44e43456bac --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/019/config.yaml @@ -0,0 +1,458 @@ +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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/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 + force_fixed_grasp: true + obj1_uid: + - drink1 + obj2_uid: + - basket + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.01 + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - drink3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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 + - drink1: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink2: + additional_height: 0.01 + buffer_size: 0.05 + 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 + drink3: + additional_height: 0.01 + buffer_size: 0.05 + 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: + basket: + type: existed_object + uid_list: + - base_glb_09 + cutboard: + is_not_rigid: true + type: existed_object + uid_list: + - 76f8b64886f4edbae88e74f68d065c9 + drink1: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink2: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + drink3: + filter_rule: [] + fixed_scale: + - 0.001 + - 0.0008 + - 0.001 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_drink/bottles_unseen + type: load_object_from_path + without_colliders: true + fruit1: + is_not_rigid: true + type: existed_object + uid_list: + - 3e2323f49db4793bd087e67b20ac350 + fruit2: + is_not_rigid: true + type: existed_object + uid_list: + - c7aa636f24e345b3b831271bf7f1fe02 + fruit3: + is_not_rigid: true + type: existed_object + uid_list: + - 8d23f3cd9254e38a696060a962ebb7f + knife: + is_not_rigid: true + type: existed_object + uid_list: + - 8a6aed1dff24e57b6836ade47a46ead + plant: + is_not_rigid: true + type: existed_object + uid_list: + - f9f025d995c4554bcc39b97eed20c7d + plate: + is_not_rigid: true + type: existed_object + uid_list: + - eced95f9f49e4ef9b6f8d576f908bc6b + vegetable1: + is_not_rigid: true + type: existed_object + uid_list: + - 91d0e4cb6a1409ea72d960d0ab144ea + vegetable2: + is_not_rigid: true + type: existed_object + uid_list: + - acdfc046a5149cc890c992da89b48c0 + vegetable3: + is_not_rigid: true + type: existed_object + uid_list: + - 96181392c1f4e2d9316bf2eeafc3042 + vegetable4: + is_not_rigid: true + type: existed_object + uid_list: + - d56e83387b64684ae7a1b4a20040d67 + vegetable5: + is_not_rigid: true + type: existed_object + uid_list: + - b87502ac41f4eb2b2ba7b0cce6517aa + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/put_drink_on_basket + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_drink/base/instance diff --git a/tasks/Aloha/unseen/put_drink_on_basket/019/lmdb/info.json b/tasks/Aloha/unseen/put_drink_on_basket/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/unseen/put_drink_on_basket/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/put_drink_on_basket/019/lmdb/lock.mdb b/tasks/Aloha/unseen/put_drink_on_basket/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c24a9d1cbc3a7fe66a5ac8c4aea655b6c03c6768 Binary files /dev/null and b/tasks/Aloha/unseen/put_drink_on_basket/019/lmdb/lock.mdb differ