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tasks/Aloha/seen/collect_three_glues/000/config.yaml

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+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
+      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
+      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
+      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
+      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
+      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
+      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
+      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
+      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

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/collect_three_glues/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
+            - -0.1
+          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
+      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
+      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
+      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
+      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
+      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
+      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
+      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
+      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

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/collect_three_glues/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
+            - -0.1
+          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
+      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
+      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
+      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
+      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
+      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
+      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
+      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
+      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

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/collect_three_glues/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
+            - -0.1
+          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
+      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
+      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
+      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
+      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
+      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
+      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
+      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
+      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

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/collect_three_glues/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
+            - -0.1
+          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
+      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
+      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
+      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
+      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
+      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
+      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
+      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
+      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

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/collect_three_glues/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
+            - -0.1
+          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
+      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
+      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
+      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
+      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
+      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
+      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
+      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
+      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

tasks/Aloha/seen/collect_three_glues/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]}]}

tasks/Aloha/seen/oil_painting_recognition/000/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/001/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/002/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/003/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/004/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/005/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/006/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/007/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/008/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}

tasks/Aloha/seen/oil_painting_recognition/009/config.yaml

@@ -0,0 +1,256 @@
+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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/seen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/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:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint1
+          position:
+          - top
+    - - - allow_fixed_grasp: true
+          arm: right
+          fixed_grasp_config:
+            orientation:
+            - 0.0
+            - 1.0
+            - 0.0
+            - 0.0
+            translation:
+            - 0.0
+            - 0.0
+            - 0.0
+          fixed_position: true
+          force_fixed_grasp: true
+          obj1_uid:
+          - brush
+          obj2_uid:
+          - paint2
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: put the box in the basket.
+  layout_config:
+    custom_tableset:
+      paint1:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: 0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+      paint2:
+        additional_height: 0.0
+        orientation:
+        - 0.5
+        - 0.5
+        - -0.5
+        - -0.5
+        pos_x: -0.1
+        pos_y: -0.3
+        random_range_angle: 0
+        reset_orientation: true
+        type: fixed_global_range
+    ignored_objects: []
+    type: random_custom_tableset
+  mode: manual
+  num_test: 20
+  object_config:
+    brush:
+      is_not_rigid: true
+      type: existed_object
+      uid_list:
+      - brush_pen
+      without_colliders: true
+    paint1:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+    paint2:
+      filter_rule: []
+      fixed_scale: 1.0
+      is_not_rigid: true
+      max_cached_num: 20
+      option:
+      - plain_replace
+      path: scene_usds/IROS_scenes_aloha_final/scene_paint/paints
+      type: load_object_from_path
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - config:
+      gripper_type: aloha_split
+    type: aloha_split
+  table_uid: instance_01
+  task_name: Aloha/unseen/oil_painting_recognition
+  usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_paint/base/instance

tasks/Aloha/seen/oil_painting_recognition/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]}]}