diff --git a/tasks/Aloha/seen/collect_two_shoes/000/config.yaml b/tasks/Aloha/seen/collect_two_shoes/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/000/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/000/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/000/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/001/config.yaml b/tasks/Aloha/seen/collect_two_shoes/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/001/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/001/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/001/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/002/config.yaml b/tasks/Aloha/seen/collect_two_shoes/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/002/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/002/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/002/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/003/config.yaml b/tasks/Aloha/seen/collect_two_shoes/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/003/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/003/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/003/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/004/config.yaml b/tasks/Aloha/seen/collect_two_shoes/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/004/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/004/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/004/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/005/config.yaml b/tasks/Aloha/seen/collect_two_shoes/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/005/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/005/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/005/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/006/config.yaml b/tasks/Aloha/seen/collect_two_shoes/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/006/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/006/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/006/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/007/config.yaml b/tasks/Aloha/seen/collect_two_shoes/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/007/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/007/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/007/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/008/config.yaml b/tasks/Aloha/seen/collect_two_shoes/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/008/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/008/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/008/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/009/config.yaml b/tasks/Aloha/seen/collect_two_shoes/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/009/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/009/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/009/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/010/config.yaml b/tasks/Aloha/seen/collect_two_shoes/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/010/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/010/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/010/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/011/config.yaml b/tasks/Aloha/seen/collect_two_shoes/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/011/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/011/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/011/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/012/config.yaml b/tasks/Aloha/seen/collect_two_shoes/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/012/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/012/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/012/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/013/config.yaml b/tasks/Aloha/seen/collect_two_shoes/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/013/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/013/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/013/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/014/config.yaml b/tasks/Aloha/seen/collect_two_shoes/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/014/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/014/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/014/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/015/config.yaml b/tasks/Aloha/seen/collect_two_shoes/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/015/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/015/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/015/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/016/config.yaml b/tasks/Aloha/seen/collect_two_shoes/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/016/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/016/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/016/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/017/config.yaml b/tasks/Aloha/seen/collect_two_shoes/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/017/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/017/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/017/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/018/config.yaml b/tasks/Aloha/seen/collect_two_shoes/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/018/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/018/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/018/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c8288f8b3c35406d7ba0a017b733debcf937c1f1 Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/collect_two_shoes/019/config.yaml b/tasks/Aloha/seen/collect_two_shoes/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e44ea02c5a8d56bc8f79873cd22f74dff38e9d4 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/019/config.yaml @@ -0,0 +1,450 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - - - allow_fixed_grasp: true + arm: right + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object3 + obj2_uid: + - container2 + position: + - top + - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.04 + fixed_position: true + fixed_position_config: + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.0 + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - object1 + obj2_uid: + - container2 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + object1: + additional_height: 0.01 + buffer_size: 0.05 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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 + random_range_angle: 0 + random_range_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: + - f8a2cdc9970846da95585a428697d173 + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + 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_place3/shoe + type: load_object_from_path + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/collect_two_shoes + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/object_place3/base/instance diff --git a/tasks/Aloha/seen/collect_two_shoes/019/lmdb/info.json b/tasks/Aloha/seen/collect_two_shoes/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/collect_two_shoes/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[200.0, 0.0, 320.0], [0.0, 200.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[152.38095092773438, 0.0, 320.0], [0.0, 152.38095092773438, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/collect_two_shoes/019/lmdb/lock.mdb b/tasks/Aloha/seen/collect_two_shoes/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eac8a8492ccad1cc71b80fa19f7b46f9a0047d3a Binary files /dev/null and b/tasks/Aloha/seen/collect_two_shoes/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/000/config.yaml b/tasks/Aloha/seen/make_sandwich/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/000/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/000/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/001/config.yaml b/tasks/Aloha/seen/make_sandwich/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/001/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/001/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/002/config.yaml b/tasks/Aloha/seen/make_sandwich/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/002/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/002/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/002/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/003/config.yaml b/tasks/Aloha/seen/make_sandwich/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/003/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/003/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/003/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/004/config.yaml b/tasks/Aloha/seen/make_sandwich/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/004/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/004/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/005/config.yaml b/tasks/Aloha/seen/make_sandwich/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/005/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/005/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/006/config.yaml b/tasks/Aloha/seen/make_sandwich/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/006/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/006/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/006/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/007/config.yaml b/tasks/Aloha/seen/make_sandwich/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/007/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/007/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/007/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/008/config.yaml b/tasks/Aloha/seen/make_sandwich/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/008/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/008/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/008/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/009/config.yaml b/tasks/Aloha/seen/make_sandwich/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/009/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/009/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/009/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/010/config.yaml b/tasks/Aloha/seen/make_sandwich/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/010/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/010/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/010/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/011/config.yaml b/tasks/Aloha/seen/make_sandwich/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/011/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/011/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/011/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/012/config.yaml b/tasks/Aloha/seen/make_sandwich/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/012/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/012/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/012/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/013/config.yaml b/tasks/Aloha/seen/make_sandwich/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/013/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/013/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/014/config.yaml b/tasks/Aloha/seen/make_sandwich/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/014/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/014/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/014/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/015/config.yaml b/tasks/Aloha/seen/make_sandwich/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/015/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/015/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/015/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/016/config.yaml b/tasks/Aloha/seen/make_sandwich/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/016/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/016/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/016/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/017/config.yaml b/tasks/Aloha/seen/make_sandwich/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/017/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/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/make_sandwich/017/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/018/config.yaml b/tasks/Aloha/seen/make_sandwich/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/018/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/018/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/018/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3284cf70887f02189d3d13eb38ed349eb0f5c3d0 Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/make_sandwich/019/config.yaml b/tasks/Aloha/seen/make_sandwich/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e13db3baf232cd848e479b3a29593d955cb3537c --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/019/config.yaml @@ -0,0 +1,490 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.12 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/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_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - -0.05 + - 0.0 + - 0.05 + force_fixed_grasp: true + mesh_top_only: true + motion_config: + post_grasp_distance: 0.24 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - 0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.05 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + mesh_top_only: true + motion_config: + post_grasp_distance: 0.15 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - lettuce + obj2_uid: + - bread2 + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - -0.04 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - -0.04 + - 0.05 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + mesh_top_only: true + motion_config: + post_grasp_distance: 0.18 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - beef + obj2_uid: + - lettuce + position: + - top + - allow_fixed_grasp: true + arm: auto + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.03 + fixed_position: true + fixed_position_config: + orientation: + - 0.924 + - -0.383 + - 0.0 + - 0.0 + translation: + - 0.0 + - 0.02 + - -0.01 + force_fixed_grasp: true + ignored_uid: + - plate + - bread2 + - beef + mesh_top_only: true + motion_config: + post_grasp_distance: 0.16 + post_place_distance: 0.08 + pre_grasp_distance: 0.08 + pre_place_distance: null + obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the box in the basket. + layout_config: + custom_tableset: + - beef: + additional_height: 0.01 + orientation: + - 0.73057 + - 0.0 + - 0.68284 + - 0.0 + pos_x: 0.21254 + pos_y: 0.33561 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread2: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.17217 + pos_y: -0.45642 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + bread4: + additional_height: 0.01 + orientation: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + pos_x: -0.15623 + pos_y: 0.49199 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + lettuce: + additional_height: 0.01 + orientation: + - 0.91684 + - -0.008 + - -0.39917 + - 0.00348 + pos_x: 0.21254 + pos_y: -0.31369 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + plate: + additional_height: 0.01 + orientation: + - 0.70711 + - 0.70711 + - 0.0 + - 0.0 + pos_x: -0.0301 + pos_y: 0.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + beef: + is_not_rigid: true + type: existed_object + uid_list: + - beef + without_colliders: true + bread2: + is_not_rigid: true + type: existed_object + uid_list: + - bread2 + without_colliders: true + bread4: + is_not_rigid: true + type: existed_object + uid_list: + - bread4 + without_colliders: true + lettuce: + is_not_rigid: true + type: existed_object + uid_list: + - lettuce + without_colliders: true + plate: + is_not_rigid: true + type: existed_object + uid_list: + - plate + without_colliders: true + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/make_sandwich + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_sandwich/base/instance diff --git a/tasks/Aloha/seen/make_sandwich/019/lmdb/info.json b/tasks/Aloha/seen/make_sandwich/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..67ac5203805beaf64035b0179e74a7b61c0d4d18 --- /dev/null +++ b/tasks/Aloha/seen/make_sandwich/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/left_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/right_camera/camera_params": [[300.0, 0.0, 320.0], [0.0, 300.0, 240.0], [0.0, 0.0, 1.0]], "observation/top_camera/camera_params": [[228.57142639160156, 0.0, 320.0], [0.0, 228.57142639160156, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]} \ No newline at end of file diff --git a/tasks/Aloha/seen/make_sandwich/019/lmdb/lock.mdb b/tasks/Aloha/seen/make_sandwich/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a92779417ebc5b09806e76de70f5719ea5debcdc Binary files /dev/null and b/tasks/Aloha/seen/make_sandwich/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/000/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/000/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/000/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/000/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/001/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/001/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/001/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/001/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/004/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/004/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/004/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/004/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/005/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/005/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/005/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/005/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/012/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/012/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/012/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/013/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/013/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/013/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/013/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/014/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/014/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/017/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/017/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/017/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/017/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/017/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/organize_colorful_cups/018/config.yaml b/tasks/Aloha/seen/organize_colorful_cups/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf59274c260f674bdecf35f6428da238fe8a3c0 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/018/config.yaml @@ -0,0 +1,354 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - allow_fixed_grasp: true + arm: left + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup2 + obj2_uid: + - plate2 + position: + - top + - allow_fixed_grasp: true + arm: right + fixed_position: true + force_fixed_grasp: true + obj1_uid: + - cup1 + obj2_uid: + - plate1 + position: + - top + mode: manual + planner: curobo + reset_tcp: true + instruction: put the cups to the plates with relative color. + layout_config: + custom_tableset: + cup1: + additional_height: 0.01 + pos_x: -0.14 + pos_y: -0.22 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + cup2: + additional_height: 0.01 + pos_x: -0.14 + pos_y: 0.22 + random_range_angle: 360 + random_range_h: 0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + plate1: + additional_height: 0.01 + pos_x: -0.25 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: 0.05 + reset_orientation: true + type: fixed_random_global_range + plate2: + additional_height: 0.01 + pos_x: 0.0 + pos_y: 0.0 + random_range_angle: 360 + random_range_h: -0.05 + random_range_w: -0.05 + reset_orientation: true + type: fixed_random_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + book1: + is_not_rigid: true + type: existed_object + uid_list: + - daf860020fdf4ed392f07933977ee89b + book2: + is_not_rigid: true + type: existed_object + uid_list: + - c594cb43f36140c8a422b069d6d9714d + book3: + is_not_rigid: true + type: existed_object + uid_list: + - 49d47c6c27648a6af26d6c912c03826 + book4: + is_not_rigid: true + type: existed_object + uid_list: + - 97e7c7f61104b6785c3bd0fdb99c74d + cup1: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + cup2: + filter_rule: [] + fixed_scale: 0.0003 + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/cups + type: load_object_from_path + without_colliders: true + keyboard: + is_not_rigid: true + type: existed_object + uid_list: + - f0a9fc8b51004680904f320e7133e951 + pen: + is_not_rigid: true + type: existed_object + uid_list: + - b6c09ed6acaa45ebb20c53696372ce3a + plant: + is_not_rigid: true + type: existed_object + uid_list: + - 2704c1bafd44bfd9e98538276ad5614 + plate1: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + plate2: + filter_rule: [] + fixed_scale: 0.0005 + is_not_rigid: true + max_cached_num: 10 + option: + - plain_replace + - cup_plate_replace + path: scene_usds/IROS_scenes_aloha_final/scene_cup/plates + type: load_object_from_path + without_colliders: true + radio: + is_not_rigid: true + type: existed_object + uid_list: + - f79ee359a23478ab9d2cc0d0da3fc39 + preprocess_config: [] + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/organize_colorful_cups + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_cup/base_2/instance diff --git a/tasks/Aloha/seen/organize_colorful_cups/018/lmdb/info.json b/tasks/Aloha/seen/organize_colorful_cups/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/organize_colorful_cups/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/organize_colorful_cups/018/lmdb/lock.mdb b/tasks/Aloha/seen/organize_colorful_cups/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a82335ba185773ee37b8a1286468eee70f57796f Binary files /dev/null and b/tasks/Aloha/seen/organize_colorful_cups/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/002/config.yaml b/tasks/Aloha/seen/purchase_gift_box/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/002/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/002/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/002/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/002/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/003/config.yaml b/tasks/Aloha/seen/purchase_gift_box/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/003/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/003/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/003/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/003/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/006/config.yaml b/tasks/Aloha/seen/purchase_gift_box/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/006/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/006/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/006/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/006/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/007/config.yaml b/tasks/Aloha/seen/purchase_gift_box/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/007/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/007/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/007/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/007/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/008/config.yaml b/tasks/Aloha/seen/purchase_gift_box/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/008/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/008/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/008/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/008/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/009/config.yaml b/tasks/Aloha/seen/purchase_gift_box/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/009/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/009/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/009/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/009/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/010/config.yaml b/tasks/Aloha/seen/purchase_gift_box/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/010/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/010/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/010/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/010/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/011/config.yaml b/tasks/Aloha/seen/purchase_gift_box/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/011/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/011/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/011/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/011/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/012/config.yaml b/tasks/Aloha/seen/purchase_gift_box/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/012/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/014/config.yaml b/tasks/Aloha/seen/purchase_gift_box/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/014/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/014/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/014/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/014/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/015/config.yaml b/tasks/Aloha/seen/purchase_gift_box/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/015/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/015/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/015/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/015/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/016/config.yaml b/tasks/Aloha/seen/purchase_gift_box/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/016/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/016/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/016/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/016/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/018/config.yaml b/tasks/Aloha/seen/purchase_gift_box/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/018/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/018/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/018/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..34f6036af3367bf9612c587d6e69a872cbf72522 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/018/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/purchase_gift_box/019/config.yaml b/tasks/Aloha/seen/purchase_gift_box/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e64c5d8a9222fb3c7e4f1aebb3f3b76a8fcec719 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/019/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: [] +evaluation_configs: +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/seen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance +- domain_randomization: + cameras: + config_path: saved/assets/collected_packages/GenManip-Package-TableTop10Aloha/cameras/fixed_camera_aloha_refined.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box1 + obj2_uid: + - basket + position: + - top + without_platform: true + - - - allow_fixed_grasp: true + arm: left + fixed_grasp_config: + translation: + - 0.0 + - 0.0 + - -0.02 + fixed_position: true + force_fixed_grasp: true + mesh_top_only: true + obj1_uid: + - box2 + obj2_uid: + - basket + position: + - top + without_platform: true + mode: manual + planner: curobo + instruction: put the box in the basket. + layout_config: + custom_tableset: + price1: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: 0.17771 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + price2: + orientation: + - 0.707 + - 0.0 + - 0.707 + - 0.0 + pos_x: 0.02 + pos_y: -0.03961 + pos_z: 1.0 + random_range_angle: 0 + reset_orientation: true + type: fixed_global_range + ignored_objects: [] + type: random_custom_tableset + mode: manual + num_test: 20 + object_config: + basket: + type: existed_object + uid_list: + - 5ce63640d40340be940138c9b90d5eec + box1: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_01 + box2: + type: existed_object + uid_list: + - 36741e7913334f328f97f7e80403d9a0_03 + price1: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + price2: + filter_rule: [] + fixed_scale: 0.075 + is_not_rigid: true + max_cached_num: 20 + option: + - plain_replace + path: scene_usds/IROS_scenes_aloha_final/scene_box/prices + type: load_object_from_path + without_colliders: true + preprocess_config: + - type: apply_default_physics_material + robots: + - config: + gripper_type: aloha_split + type: aloha_split + table_uid: instance + task_name: Aloha/unseen/purchase_gift_box + usd_name: collected_packages/GenManip-Package-TableTop10Aloha/scenes/scene_usds/IROS_scenes_aloha_final/scene_box/base/instance diff --git a/tasks/Aloha/seen/purchase_gift_box/019/lmdb/info.json b/tasks/Aloha/seen/purchase_gift_box/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/purchase_gift_box/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/purchase_gift_box/019/lmdb/lock.mdb b/tasks/Aloha/seen/purchase_gift_box/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63fc9171f002589a76afcebd60cdea2c92547af8 Binary files /dev/null and b/tasks/Aloha/seen/purchase_gift_box/019/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/000/config.yaml b/tasks/Aloha/seen/sort_waste/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/000/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/000/lmdb/info.json b/tasks/Aloha/seen/sort_waste/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/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/sort_waste/000/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/000/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/001/config.yaml b/tasks/Aloha/seen/sort_waste/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/001/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/001/lmdb/info.json b/tasks/Aloha/seen/sort_waste/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/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/sort_waste/001/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/001/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/004/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/004/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/005/config.yaml b/tasks/Aloha/seen/sort_waste/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/005/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/005/lmdb/info.json b/tasks/Aloha/seen/sort_waste/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/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/sort_waste/005/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ebe384b0c5ea873411f6a48f0c5c581cad9955c Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/005/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/013/config.yaml b/tasks/Aloha/seen/sort_waste/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/013/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/013/lmdb/info.json b/tasks/Aloha/seen/sort_waste/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/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/sort_waste/013/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/013/lmdb/lock.mdb differ diff --git a/tasks/Aloha/seen/sort_waste/017/config.yaml b/tasks/Aloha/seen/sort_waste/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbbfde169974c516f8bff641fa85b0dd8ef93f7e --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/017/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/017/lmdb/info.json b/tasks/Aloha/seen/sort_waste/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3f52e487282e1fb25b623ed6156af715fc88f6 --- /dev/null +++ b/tasks/Aloha/seen/sort_waste/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/sort_waste/017/lmdb/lock.mdb b/tasks/Aloha/seen/sort_waste/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ccf4d458d141c99f49ecbdbf3b8bfd579919967 Binary files /dev/null and b/tasks/Aloha/seen/sort_waste/017/lmdb/lock.mdb differ