diff --git a/tasks/Aloha/seen/collect_three_glues/000/config.yaml b/tasks/Aloha/seen/collect_three_glues/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9b9d9b0d3fbeddd0713759fa68f0dea2539dda7 --- /dev/null +++ b/tasks/Aloha/seen/collect_three_glues/000/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - -0.1 + 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 diff --git a/tasks/Aloha/seen/collect_three_glues/000/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/000/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..285bf1b0986f8a80b29a1e37a034217477b647bc Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_three_glues/001/config.yaml b/tasks/Aloha/seen/collect_three_glues/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9b9d9b0d3fbeddd0713759fa68f0dea2539dda7 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/collect_three_glues/001/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/001/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..96e39740408446f736d76112c26e1e4e4cfe5d36 Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_three_glues/004/config.yaml b/tasks/Aloha/seen/collect_three_glues/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9b9d9b0d3fbeddd0713759fa68f0dea2539dda7 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/collect_three_glues/004/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/004/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..285bf1b0986f8a80b29a1e37a034217477b647bc Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_three_glues/005/config.yaml b/tasks/Aloha/seen/collect_three_glues/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9b9d9b0d3fbeddd0713759fa68f0dea2539dda7 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/collect_three_glues/005/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/005/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..96e39740408446f736d76112c26e1e4e4cfe5d36 Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_three_glues/012/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/012/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..285bf1b0986f8a80b29a1e37a034217477b647bc Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_three_glues/013/config.yaml b/tasks/Aloha/seen/collect_three_glues/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9b9d9b0d3fbeddd0713759fa68f0dea2539dda7 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/collect_three_glues/013/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/013/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..96e39740408446f736d76112c26e1e4e4cfe5d36 Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_three_glues/017/config.yaml b/tasks/Aloha/seen/collect_three_glues/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9b9d9b0d3fbeddd0713759fa68f0dea2539dda7 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/collect_three_glues/017/lmdb/info.json b/tasks/Aloha/seen/collect_three_glues/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_three_glues/017/lmdb/lock.mdb b/tasks/Aloha/seen/collect_three_glues/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..96e39740408446f736d76112c26e1e4e4cfe5d36 Binary files /dev/null and b/tasks/Aloha/seen/collect_three_glues/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/000/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/000/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/000/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/001/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/001/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/001/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/002/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/002/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/002/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/003/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/003/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/003/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/004/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/004/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/004/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/005/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/005/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/005/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/006/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/006/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/006/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/007/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/007/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/007/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/008/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/008/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/008/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/009/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/009/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/009/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/010/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/010/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/010/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/010/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/011/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/011/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/011/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/011/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/012/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/012/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/012/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/012/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/013/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/013/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/013/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/013/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/014/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/014/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/014/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/014/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/015/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/015/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/015/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/015/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/016/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/016/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/016/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/016/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/017/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/017/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/017/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/017/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..27e28072a0799114143f3e97175df6805d2f2ac1 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/018/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/018/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/018/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/018/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/oil_painting_recognition/019/config.yaml b/tasks/Aloha/seen/oil_painting_recognition/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df449d56b4f7bcc2b364e787b776a4b9a45e8f06 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/019/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 diff --git a/tasks/Aloha/seen/oil_painting_recognition/019/lmdb/info.json b/tasks/Aloha/seen/oil_painting_recognition/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/oil_painting_recognition/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/oil_painting_recognition/019/lmdb/lock.mdb b/tasks/Aloha/seen/oil_painting_recognition/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7cafcd9713783740482941c21ef6ba3e433dcc31 Binary files /dev/null and b/tasks/Aloha/seen/oil_painting_recognition/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/put_drink_on_basket/016/lmdb/lock.mdb b/tasks/Aloha/seen/put_drink_on_basket/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31a7315e033eb7c06545ad107510203b095f4f09 Binary files /dev/null and b/tasks/Aloha/seen/put_drink_on_basket/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/002/config.yaml b/tasks/Aloha/seen/sort_waste/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/002/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/002/lmdb/info.json b/tasks/Aloha/seen/sort_waste/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/002/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/003/config.yaml b/tasks/Aloha/seen/sort_waste/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/003/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/003/lmdb/info.json b/tasks/Aloha/seen/sort_waste/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/003/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/004/config.yaml b/tasks/Aloha/seen/sort_waste/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/004/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/004/lmdb/info.json b/tasks/Aloha/seen/sort_waste/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/006/config.yaml b/tasks/Aloha/seen/sort_waste/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/006/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/006/lmdb/info.json b/tasks/Aloha/seen/sort_waste/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/006/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/007/config.yaml b/tasks/Aloha/seen/sort_waste/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/007/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/007/lmdb/info.json b/tasks/Aloha/seen/sort_waste/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/007/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/008/config.yaml b/tasks/Aloha/seen/sort_waste/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/008/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/008/lmdb/info.json b/tasks/Aloha/seen/sort_waste/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/008/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/009/config.yaml b/tasks/Aloha/seen/sort_waste/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/009/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/009/lmdb/info.json b/tasks/Aloha/seen/sort_waste/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/009/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/010/config.yaml b/tasks/Aloha/seen/sort_waste/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/010/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/010/lmdb/info.json b/tasks/Aloha/seen/sort_waste/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/010/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/011/config.yaml b/tasks/Aloha/seen/sort_waste/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/011/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/011/lmdb/info.json b/tasks/Aloha/seen/sort_waste/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/011/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/012/config.yaml b/tasks/Aloha/seen/sort_waste/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/012/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/012/lmdb/info.json b/tasks/Aloha/seen/sort_waste/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/012/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/014/config.yaml b/tasks/Aloha/seen/sort_waste/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/014/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/014/lmdb/info.json b/tasks/Aloha/seen/sort_waste/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/014/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/015/config.yaml b/tasks/Aloha/seen/sort_waste/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/015/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/015/lmdb/info.json b/tasks/Aloha/seen/sort_waste/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/015/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/016/config.yaml b/tasks/Aloha/seen/sort_waste/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/016/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/016/lmdb/info.json b/tasks/Aloha/seen/sort_waste/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/016/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/018/config.yaml b/tasks/Aloha/seen/sort_waste/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/018/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/018/lmdb/info.json b/tasks/Aloha/seen/sort_waste/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/018/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/019/config.yaml b/tasks/Aloha/seen/sort_waste/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/019/config.yaml @@ -0,0 +1,430 @@ +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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/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: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - can1 + obj2_uid: + - goodbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery1 + obj2_uid: + - badbin + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - battery2 + obj2_uid: + - badbin + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + battery1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + battery2: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + can1: + additional_height: 0.01 + buffer_size: 0.05 + orientation: + - 0.0 + - 1.0 + - 0.0 + - 0.0 + random_range_angle: 360 + random_range_h: 0.8 + random_range_w: 0.2 + random_range_x: -0.15 + random_range_y: -0.4 + reset_orientation: true + type: global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + badbin: + type: existed_object + uid_list: + - badbin + battery1: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + battery2: + filter_rule: [] + fixed_scale: + - 2.5 + - 2.0 + - 2.5 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/batteries + type: load_object_from_path + without_colliders: true + can1: + filter_rule: [] + fixed_scale: 0.0006 + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_waste/cans + type: load_object_from_path + without_colliders: true + goodbin: + type: existed_object + uid_list: + - goodbin + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/sort_waste + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_waste/base/instance diff --git a/tasks/Aloha/seen/sort_waste/019/lmdb/info.json b/tasks/Aloha/seen/sort_waste/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/sort_waste/019/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/019/lmdb/lock.mdb differ