Add handover_bottle_and_put_into_dustbin data and env_cfg
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +5 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/data/episode_0000000.hdf5 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/data/episode_0000001.hdf5 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/data/episode_0000002.hdf5 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/data/episode_0000003.hdf5 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/data/episode_0000004.hdf5 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000000.json +290 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000001.json +290 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000002.json +290 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000003.json +290 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000004.json +290 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/seed.txt +5 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000000.pkl +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000001.pkl +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000002.pkl +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000003.pkl +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000004.pkl +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000000_cam_head.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000000_cam_third_view.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000001_cam_head.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000001_cam_third_view.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000002_cam_head.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000002_cam_third_view.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000003_cam_head.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000003_cam_third_view.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000004_cam_head.mp4 +3 -0
- data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000004_cam_third_view.mp4 +3 -0
- env_cfg/camera/_camera_config.yml +56 -0
- env_cfg/camera/_template.yaml +137 -0
- env_cfg/camera/aloha_agilex.yml +106 -0
- env_cfg/camera/camera_config.yml +104 -0
- env_cfg/camera/check_table.yml +35 -0
- env_cfg/camera/wrist_camera.yml +27 -0
- env_cfg/check_stable.yml +38 -0
- env_cfg/check_table.yml +39 -0
- env_cfg/dual_franka.yml +40 -0
- env_cfg/dual_x5.yml +40 -0
- env_cfg/g1_hand.yml +40 -0
- env_cfg/g1_inspire.yml +40 -0
- env_cfg/robot/_robot_info.json +30 -0
- env_cfg/robot/aloha_agilex.yml +10 -0
- env_cfg/robot/dual_franka.yml +18 -0
- env_cfg/robot/dual_piper.yml +17 -0
- env_cfg/robot/dual_umi.yml +18 -0
- env_cfg/robot/dual_ur5e.yml +18 -0
- env_cfg/robot/dual_x5.yml +17 -0
- env_cfg/robot/dual_y1.yml +10 -0
- env_cfg/robot/g1_inspire.yml +26 -0
- env_cfg/robot/robot_config.yml +38 -0
- env_cfg/scene/check_stable.yml +17 -0
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# Video files - compressed
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data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000001.json
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@@ -0,0 +1,290 @@
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data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000002.json
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@@ -0,0 +1,290 @@
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data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000003.json
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@@ -0,0 +1,290 @@
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data/handover_bottle_and_put_into_dustbin/g1_inspire/scene_layout/episode_0000004.json
ADDED
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@@ -0,0 +1,290 @@
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| 200 |
+
-0.1
|
| 201 |
+
],
|
| 202 |
+
"zlim": [
|
| 203 |
+
0.35,
|
| 204 |
+
0.35
|
| 205 |
+
],
|
| 206 |
+
"qpos": [
|
| 207 |
+
1,
|
| 208 |
+
0,
|
| 209 |
+
0,
|
| 210 |
+
0
|
| 211 |
+
],
|
| 212 |
+
"rotate_deg": 0,
|
| 213 |
+
"rotate_rand": false,
|
| 214 |
+
"relative_plane": "Ground",
|
| 215 |
+
"place_tag": null,
|
| 216 |
+
"margin": 0.01,
|
| 217 |
+
"label": "dustbin",
|
| 218 |
+
"default_pos": [
|
| 219 |
+
-0.65,
|
| 220 |
+
-0.1,
|
| 221 |
+
0.39999999999999997
|
| 222 |
+
],
|
| 223 |
+
"default_ori": [
|
| 224 |
+
1.0,
|
| 225 |
+
0.0,
|
| 226 |
+
0.0,
|
| 227 |
+
0.0
|
| 228 |
+
],
|
| 229 |
+
"scale": [
|
| 230 |
+
1.0,
|
| 231 |
+
1.0,
|
| 232 |
+
1.0
|
| 233 |
+
],
|
| 234 |
+
"physics": {
|
| 235 |
+
"mass": 2.1,
|
| 236 |
+
"friction": 0.15,
|
| 237 |
+
"type": "geometry"
|
| 238 |
+
},
|
| 239 |
+
"visual": {}
|
| 240 |
+
}
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"Table": {
|
| 244 |
+
"default": "material_0122",
|
| 245 |
+
"scale": [
|
| 246 |
+
1.0,
|
| 247 |
+
0.8,
|
| 248 |
+
0.05
|
| 249 |
+
],
|
| 250 |
+
"default_pos": [
|
| 251 |
+
0.075,
|
| 252 |
+
0.0,
|
| 253 |
+
0.74
|
| 254 |
+
],
|
| 255 |
+
"orientation": [
|
| 256 |
+
1.0,
|
| 257 |
+
0.0,
|
| 258 |
+
0.0,
|
| 259 |
+
0.0
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
"Ground": {
|
| 263 |
+
"geometry": "cube",
|
| 264 |
+
"thickness": 0.1,
|
| 265 |
+
"axis": "Z",
|
| 266 |
+
"default_pos": [
|
| 267 |
+
0.0,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0
|
| 270 |
+
],
|
| 271 |
+
"materials": {
|
| 272 |
+
"type": "mdl",
|
| 273 |
+
"random": false,
|
| 274 |
+
"default": "material_0564"
|
| 275 |
+
},
|
| 276 |
+
"physics_material": {
|
| 277 |
+
"static_friction": 1.0,
|
| 278 |
+
"dynamic_friction": 1.0,
|
| 279 |
+
"restitution": 0.0,
|
| 280 |
+
"friction_combine_mode": "multiply",
|
| 281 |
+
"restitution_combine_mode": "multiply",
|
| 282 |
+
"compliant_contact_stiffness": 0.0,
|
| 283 |
+
"compliant_contact_damping": 0.0
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"Background": {
|
| 287 |
+
"intensity": 1000,
|
| 288 |
+
"category_name": "brown_photostudio_02_4k.hdr"
|
| 289 |
+
}
|
| 290 |
+
}
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/seed.txt
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
8
|
| 2 |
+
34
|
| 3 |
+
46
|
| 4 |
+
63
|
| 5 |
+
70
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000000.pkl
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:248764c977a7afaea0f0168abb41964b77b3f994c7ac76984ee910ebaf5d0837
|
| 3 |
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size 4920821
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000001.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
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|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:c0d9aac5ee7cfb0ddd0cac256895545ce35244e4c27fad23753fdd0305f3ae27
|
| 3 |
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size 3372188
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000002.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:61ef91426513561e94c625355ba5acd329fc18ef91a890156dade2f1841efd50
|
| 3 |
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size 3586995
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000003.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:b929586bc687ed68bc301341cc39611ed2f2e49cdc8c8d11fa9b002fa62a29bc
|
| 3 |
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size 3187874
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/traj_data/episode_0000004.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:85345ddc5209e563d58d00e04870cd7f02422c2aae7e44dd1276e86c1316034b
|
| 3 |
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size 3338404
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000000_cam_head.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:ba2f3f4793941836fb2b3329fadddb84d6e8748020bfb276ff07cebc81631369
|
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size 262560
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000000_cam_third_view.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:143a9a4367474b43bc0ece277712cf302954ff973e57af5f8bba366ea702a9f6
|
| 3 |
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size 395800
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000001_cam_head.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:5d0986692b1b6af4e05b722c50afbff8aa2174544e208bfb58f6c355feb3ccd2
|
| 3 |
+
size 176478
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000001_cam_third_view.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
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oid sha256:d1aae0469939e2509fcdcac127803b786d4f45cd11facaa5cfee941be88640c1
|
| 3 |
+
size 275202
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000002_cam_head.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0dfb63fef36bee30144188fed199333073fd6442bb66c8a5631e055df9e45a30
|
| 3 |
+
size 182519
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000002_cam_third_view.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3705e3759a5eef561d5536d50365a23af0ce0464a98ecc9a9adaf7ed05ba442e
|
| 3 |
+
size 288652
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000003_cam_head.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c9da42bfb810c1ebe8e7a1bcd06cc8fabd9f59c2c01817479474a67ac3ad00b
|
| 3 |
+
size 163858
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000003_cam_third_view.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:09832cfd52f0febad500565388d77607f50e469f4f7acb0dabc96161a0ed7010
|
| 3 |
+
size 273011
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000004_cam_head.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c2431028565468236413c8b9e9c7627471fcc8ed72e516d15f9b22a326d35cd7
|
| 3 |
+
size 168712
|
data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000004_cam_third_view.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:384148a16c1170f65e78c1c622de80de56662eefe637578a37a85aa6c51c06eb
|
| 3 |
+
size 276961
|
env_cfg/camera/_camera_config.yml
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
L515:
|
| 2 |
+
type: pinhole
|
| 3 |
+
fovy: 45
|
| 4 |
+
w: 320
|
| 5 |
+
h: 180
|
| 6 |
+
horizontal_aperture: 20.955
|
| 7 |
+
|
| 8 |
+
Large_L515:
|
| 9 |
+
type: pinhole
|
| 10 |
+
fovy: 45
|
| 11 |
+
w: 640
|
| 12 |
+
h: 360
|
| 13 |
+
|
| 14 |
+
D435:
|
| 15 |
+
type: pinhole
|
| 16 |
+
fovy: 43
|
| 17 |
+
w: 320
|
| 18 |
+
h: 240
|
| 19 |
+
horizontal_aperture: 20.955
|
| 20 |
+
|
| 21 |
+
Large_D435:
|
| 22 |
+
type: pinhole
|
| 23 |
+
fovy: 37
|
| 24 |
+
w: 640
|
| 25 |
+
h: 480
|
| 26 |
+
horizontal_aperture: 20.955
|
| 27 |
+
|
| 28 |
+
Third_Camera:
|
| 29 |
+
type: pinhole
|
| 30 |
+
fovy: 93
|
| 31 |
+
w: 640
|
| 32 |
+
h: 480
|
| 33 |
+
horizontal_aperture: 20.955
|
| 34 |
+
|
| 35 |
+
Fish:
|
| 36 |
+
type: fisheye
|
| 37 |
+
max_fov: 180
|
| 38 |
+
w: 640
|
| 39 |
+
h: 480
|
| 40 |
+
horizontal_aperture: 20.955
|
| 41 |
+
k: [0.01, 0.0135, 0.0, 0.0, 0.0, 0.0]
|
| 42 |
+
fx_px: 900.0
|
| 43 |
+
fy_px: 800.0
|
| 44 |
+
|
| 45 |
+
y1Fish:
|
| 46 |
+
type: y1fisheye
|
| 47 |
+
max_fov: 210
|
| 48 |
+
w: 2080
|
| 49 |
+
h: 2080 # To obtain a complete fisheye view, set the maximum value to enable automatic scaling
|
| 50 |
+
optical_center: [960, 540]
|
| 51 |
+
focal_length: 0.105
|
| 52 |
+
horizontal_aperture: 0.537
|
| 53 |
+
vertical_aperture: 4.04
|
| 54 |
+
k: [-0.15, 0.02, -0.005, 0.0, 0.0, 0.0]
|
| 55 |
+
fx_px: 382.5
|
| 56 |
+
fy_px: 382.5
|
env_cfg/camera/_template.yaml
ADDED
|
@@ -0,0 +1,137 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
enable_tiled: True
|
| 2 |
+
colorize_depth: True
|
| 3 |
+
camera0:
|
| 4 |
+
camera:
|
| 5 |
+
type: camera
|
| 6 |
+
mesh: pinhole
|
| 7 |
+
# clipping_range: [0.1, 5]
|
| 8 |
+
resolution: [480, 640]
|
| 9 |
+
frequency: 50
|
| 10 |
+
focal_length: 0.0169
|
| 11 |
+
horizontal_aperture: 0.0693
|
| 12 |
+
vertical_aperture: 0.0284
|
| 13 |
+
pos: [0.04485, 0.0, 0.35325]
|
| 14 |
+
ori: [0, -55, -90]
|
| 15 |
+
clipping_range: [0.1, 5]
|
| 16 |
+
mount_link: "robot_0/head_link"
|
| 17 |
+
|
| 18 |
+
random: # randomization parameters
|
| 19 |
+
pos:
|
| 20 |
+
min: [0, 0, 0]
|
| 21 |
+
max: [0, 0, 0]
|
| 22 |
+
ori:
|
| 23 |
+
min: [0, 0, 0]
|
| 24 |
+
max: [0, 0, 0]
|
| 25 |
+
|
| 26 |
+
action_noise:
|
| 27 |
+
pos:
|
| 28 |
+
min: [0, 0, 0]
|
| 29 |
+
max: [0, 0, 0]
|
| 30 |
+
ori:
|
| 31 |
+
min: [0, 0, 0]
|
| 32 |
+
max: [0, 0, 0]
|
| 33 |
+
annotator:
|
| 34 |
+
enabled: True
|
| 35 |
+
rgb_capture:
|
| 36 |
+
type: rgb
|
| 37 |
+
device: cpu
|
| 38 |
+
# rgb_capture1:
|
| 39 |
+
# type: rgb
|
| 40 |
+
# device: cuda
|
| 41 |
+
# normals_capture:
|
| 42 |
+
# type: normals
|
| 43 |
+
# device: cpu
|
| 44 |
+
# normals_capture1:
|
| 45 |
+
# type: normals
|
| 46 |
+
# device: cuda
|
| 47 |
+
# distance_to_camera_capture:
|
| 48 |
+
# type: distance_to_camera
|
| 49 |
+
# device: cpu
|
| 50 |
+
# distance_to_camera_capture1:
|
| 51 |
+
# type: distance_to_camera
|
| 52 |
+
# device: cuda
|
| 53 |
+
# distance_to_image_plane_capture:
|
| 54 |
+
# type: distance_to_image_plane
|
| 55 |
+
# device: cpu
|
| 56 |
+
# distance_to_image_plane_capture1:
|
| 57 |
+
# type: distance_to_image_plane
|
| 58 |
+
# device: cuda
|
| 59 |
+
# semantic_segmentation_capture:
|
| 60 |
+
# type: semantic_segmentation
|
| 61 |
+
# device: cpu
|
| 62 |
+
# colorize: True
|
| 63 |
+
# semantic_types: None
|
| 64 |
+
# semantic_filter_predicate: None
|
| 65 |
+
# semantic_segmentation_capture1:
|
| 66 |
+
# type: semantic_segmentation
|
| 67 |
+
# device: cuda
|
| 68 |
+
# colorize: True
|
| 69 |
+
# semantic_types: None
|
| 70 |
+
# semantic_filter_predicate: None
|
| 71 |
+
# instance_id_segmentation_capture:
|
| 72 |
+
# type: instance_id_segmentation
|
| 73 |
+
# device: cpu
|
| 74 |
+
# colorize: True
|
| 75 |
+
# semantic_types: None
|
| 76 |
+
# semantic_filter_predicate: None
|
| 77 |
+
# instance_id_segmentation_capture1:
|
| 78 |
+
# type: instance_id_segmentation
|
| 79 |
+
# device: cuda
|
| 80 |
+
# colorize: True
|
| 81 |
+
# semantic_types: None
|
| 82 |
+
# semantic_filter_predicate: None
|
| 83 |
+
# instance_segmentation_capture:
|
| 84 |
+
# type: instance_segmentation
|
| 85 |
+
# device: cpu
|
| 86 |
+
# colorize: True
|
| 87 |
+
# semantic_types: None
|
| 88 |
+
# semantic_filter_predicate: None
|
| 89 |
+
# instance_segmentation_capture1:
|
| 90 |
+
# type: instance_segmentation
|
| 91 |
+
# device: cuda
|
| 92 |
+
# colorize: True
|
| 93 |
+
# semantic_types: None
|
| 94 |
+
# semantic_filter_predicate: None
|
| 95 |
+
# motion_vectors_capture:
|
| 96 |
+
# type: motion_vectors
|
| 97 |
+
# device: cpu
|
| 98 |
+
# motion_vectors_capture1:
|
| 99 |
+
# type: motion_vectors
|
| 100 |
+
# device: cuda
|
| 101 |
+
# occlusion_capture:
|
| 102 |
+
# type: occlusion
|
| 103 |
+
# device: cpu
|
| 104 |
+
# occlusion_capture1:
|
| 105 |
+
# type: occlusion
|
| 106 |
+
# device: cuda
|
| 107 |
+
# bounding_box_3d_capture: # Note that all annotator related to bounding_box doesn't support cuda
|
| 108 |
+
# type: bounding_box_3d
|
| 109 |
+
# device: cpu
|
| 110 |
+
# bounding_box_2d_loose_capture:
|
| 111 |
+
# type: bounding_box_2d_loose
|
| 112 |
+
# device: cpu
|
| 113 |
+
# bounding_box_2d_tight_capture:
|
| 114 |
+
# type: bounding_box_2d_tight
|
| 115 |
+
# device: cpu
|
| 116 |
+
# camera_params_capture:
|
| 117 |
+
# type: camera_params
|
| 118 |
+
# device: cpu
|
| 119 |
+
# camera_params_capture1:
|
| 120 |
+
# type: camera_params
|
| 121 |
+
# device: cuda
|
| 122 |
+
# pointcloud_capture:
|
| 123 |
+
# type: pointcloud
|
| 124 |
+
# device: cpu
|
| 125 |
+
# includeUnlabelled: True
|
| 126 |
+
# pointcloud_capture1:
|
| 127 |
+
# type: pointcloud
|
| 128 |
+
# device: cuda
|
| 129 |
+
# includeUnlabelled: False
|
| 130 |
+
# skeleton_data_capture:
|
| 131 |
+
# type: skeleton_data
|
| 132 |
+
# device: cpu
|
| 133 |
+
# useSkelJoints: False
|
| 134 |
+
# skeleton_data_capture1:
|
| 135 |
+
# type: skeleton_data
|
| 136 |
+
# device: cuda
|
| 137 |
+
# useSkelJoints: False
|
env_cfg/camera/aloha_agilex.yml
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
enable_tiled: False
|
| 2 |
+
colorize_depth: True
|
| 3 |
+
third_person_camera:
|
| 4 |
+
camera:
|
| 5 |
+
type: camera
|
| 6 |
+
mesh: pinhole
|
| 7 |
+
resolution: [640, 480]
|
| 8 |
+
frequency: 10
|
| 9 |
+
horizontal_aperture: 20.955
|
| 10 |
+
vertical_aperture: 15.71625
|
| 11 |
+
focal_length: 7.45708219
|
| 12 |
+
pos: [0.0, 0.4, 1.15]
|
| 13 |
+
ori: [-44.885, 0, 180]
|
| 14 |
+
clipping_range: [0.1, 10.0]
|
| 15 |
+
|
| 16 |
+
random: # randomization parameters
|
| 17 |
+
pos:
|
| 18 |
+
min: [0, 0, 0]
|
| 19 |
+
max: [0, 0, 0]
|
| 20 |
+
ori:
|
| 21 |
+
min: [0, 0, 0]
|
| 22 |
+
max: [0, 0, 0]
|
| 23 |
+
|
| 24 |
+
action_noise:
|
| 25 |
+
pos:
|
| 26 |
+
min: [0, 0, 0]
|
| 27 |
+
max: [0, 0, 0]
|
| 28 |
+
ori:
|
| 29 |
+
min: [0, 0, 0]
|
| 30 |
+
max: [0, 0, 0]
|
| 31 |
+
annotator:
|
| 32 |
+
enabled: True
|
| 33 |
+
rgb_capture:
|
| 34 |
+
type: rgb
|
| 35 |
+
device: cpu
|
| 36 |
+
|
| 37 |
+
head_camera:
|
| 38 |
+
camera:
|
| 39 |
+
type: camera
|
| 40 |
+
mesh: pinhole
|
| 41 |
+
resolution: [320, 240]
|
| 42 |
+
frequency: 10
|
| 43 |
+
focal_length: 19.95
|
| 44 |
+
horizontal_aperture: 20.955
|
| 45 |
+
vertical_aperture: 15.71625
|
| 46 |
+
# franka/piper/ARX head camera
|
| 47 |
+
pos: [-0.017, -0.4, 1.39]
|
| 48 |
+
ori: [36.877, 0, 0]
|
| 49 |
+
# aloha head camera
|
| 50 |
+
# pos: [-0.017, -0.403, 1.403]
|
| 51 |
+
clipping_range: [0.1, 10.0]
|
| 52 |
+
|
| 53 |
+
random: # randomization parameters
|
| 54 |
+
pos:
|
| 55 |
+
min: [0, 0, 0]
|
| 56 |
+
max: [0, 0, 0]
|
| 57 |
+
ori:
|
| 58 |
+
min: [0, 0, 0]
|
| 59 |
+
max: [0, 0, 0]
|
| 60 |
+
|
| 61 |
+
action_noise:
|
| 62 |
+
pos:
|
| 63 |
+
min: [0, 0, 0]
|
| 64 |
+
max: [0, 0, 0]
|
| 65 |
+
ori:
|
| 66 |
+
min: [0, 0, 0]
|
| 67 |
+
max: [0, 0, 0]
|
| 68 |
+
annotator:
|
| 69 |
+
enabled: True
|
| 70 |
+
rgb_capture:
|
| 71 |
+
type: rgb
|
| 72 |
+
device: cpu
|
| 73 |
+
|
| 74 |
+
front_camera:
|
| 75 |
+
camera:
|
| 76 |
+
type: camera
|
| 77 |
+
mesh: pinhole
|
| 78 |
+
resolution: [640, 480]
|
| 79 |
+
frequency: 10
|
| 80 |
+
focal_length: 19.95
|
| 81 |
+
horizontal_aperture: 20.955
|
| 82 |
+
vertical_aperture: 15.71625
|
| 83 |
+
pos: [-0.016, -0.4, 0.8819]
|
| 84 |
+
ori: [72, 0, 0]
|
| 85 |
+
clipping_range: [0.1, 10.0]
|
| 86 |
+
|
| 87 |
+
random: # randomization parameters
|
| 88 |
+
pos:
|
| 89 |
+
min: [0, 0, 0]
|
| 90 |
+
max: [0, 0, 0]
|
| 91 |
+
ori:
|
| 92 |
+
min: [0, 0, 0]
|
| 93 |
+
max: [0, 0, 0]
|
| 94 |
+
|
| 95 |
+
action_noise:
|
| 96 |
+
pos:
|
| 97 |
+
min: [0, 0, 0]
|
| 98 |
+
max: [0, 0, 0]
|
| 99 |
+
ori:
|
| 100 |
+
min: [0, 0, 0]
|
| 101 |
+
max: [0, 0, 0]
|
| 102 |
+
annotator:
|
| 103 |
+
enabled: True
|
| 104 |
+
rgb_capture:
|
| 105 |
+
type: rgb
|
| 106 |
+
device: cpu
|
env_cfg/camera/camera_config.yml
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
enable_tiled: True
|
| 2 |
+
colorize_depth: True
|
| 3 |
+
cam_third_view:
|
| 4 |
+
camera:
|
| 5 |
+
type: camera
|
| 6 |
+
mesh: pinhole
|
| 7 |
+
resolution: [640, 480]
|
| 8 |
+
horizontal_aperture: 20.955
|
| 9 |
+
vertical_aperture: 15.71625
|
| 10 |
+
focal_length: 7.45708219
|
| 11 |
+
pos: [0.0, 0.4, 1.15]
|
| 12 |
+
ori: [-44.885, 0, 180]
|
| 13 |
+
clipping_range: [0.1, 10.0]
|
| 14 |
+
|
| 15 |
+
random: # randomization parameters
|
| 16 |
+
pos:
|
| 17 |
+
min: [0, 0, 0]
|
| 18 |
+
max: [0, 0, 0]
|
| 19 |
+
ori:
|
| 20 |
+
min: [0, 0, 0]
|
| 21 |
+
max: [0, 0, 0]
|
| 22 |
+
|
| 23 |
+
action_noise:
|
| 24 |
+
pos:
|
| 25 |
+
min: [0, 0, 0]
|
| 26 |
+
max: [0, 0, 0]
|
| 27 |
+
ori:
|
| 28 |
+
min: [0, 0, 0]
|
| 29 |
+
max: [0, 0, 0]
|
| 30 |
+
annotator:
|
| 31 |
+
enabled: True
|
| 32 |
+
rgb_capture:
|
| 33 |
+
type: rgb
|
| 34 |
+
device: cpu
|
| 35 |
+
|
| 36 |
+
cam_head:
|
| 37 |
+
camera:
|
| 38 |
+
type: camera
|
| 39 |
+
mesh: pinhole
|
| 40 |
+
resolution: [320, 240]
|
| 41 |
+
focal_length: 19.95
|
| 42 |
+
horizontal_aperture: 20.955
|
| 43 |
+
vertical_aperture: 15.71625
|
| 44 |
+
# franka/piper/ARX head camera
|
| 45 |
+
pos: [0.0, -0.6, 1.43]
|
| 46 |
+
ori: [36.877, 0, 0]
|
| 47 |
+
# aloha head camera
|
| 48 |
+
# pos: [-0.017, -0.403, 1.403]
|
| 49 |
+
clipping_range: [0.1, 10.0]
|
| 50 |
+
|
| 51 |
+
random: # randomization parameters
|
| 52 |
+
pos:
|
| 53 |
+
min: [0, 0, 0]
|
| 54 |
+
max: [0, 0, 0]
|
| 55 |
+
ori:
|
| 56 |
+
min: [0, 0, 0]
|
| 57 |
+
max: [0, 0, 0]
|
| 58 |
+
|
| 59 |
+
action_noise:
|
| 60 |
+
pos:
|
| 61 |
+
min: [0, 0, 0]
|
| 62 |
+
max: [0, 0, 0]
|
| 63 |
+
ori:
|
| 64 |
+
min: [0, 0, 0]
|
| 65 |
+
max: [0, 0, 0]
|
| 66 |
+
annotator:
|
| 67 |
+
enabled: True
|
| 68 |
+
rgb_capture:
|
| 69 |
+
type: rgb
|
| 70 |
+
device: cpu
|
| 71 |
+
|
| 72 |
+
# front_camera:
|
| 73 |
+
# camera:
|
| 74 |
+
# type: camera
|
| 75 |
+
# mesh: pinhole
|
| 76 |
+
# resolution: [640, 480]
|
| 77 |
+
# frequency: 25
|
| 78 |
+
# focal_length: 0.0169
|
| 79 |
+
# horizontal_aperture: 0.0693
|
| 80 |
+
# vertical_aperture: 0.0284
|
| 81 |
+
# pos: [-0.016, -0.4, 0.8819]
|
| 82 |
+
# ori: [0, 5.71, 90]
|
| 83 |
+
# clipping_range: [0.1, 10.0]
|
| 84 |
+
|
| 85 |
+
# random: # randomization parameters
|
| 86 |
+
# pos:
|
| 87 |
+
# min: [0, 0, 0]
|
| 88 |
+
# max: [0, 0, 0]
|
| 89 |
+
# ori:
|
| 90 |
+
# min: [0, 0, 0]
|
| 91 |
+
# max: [0, 0, 0]
|
| 92 |
+
|
| 93 |
+
# action_noise:
|
| 94 |
+
# pos:
|
| 95 |
+
# min: [0, 0, 0]
|
| 96 |
+
# max: [0, 0, 0]
|
| 97 |
+
# ori:
|
| 98 |
+
# min: [0, 0, 0]
|
| 99 |
+
# max: [0, 0, 0]
|
| 100 |
+
# annotator:
|
| 101 |
+
# enabled: True
|
| 102 |
+
# rgb_capture:
|
| 103 |
+
# type: rgb
|
| 104 |
+
# device: cpu
|
env_cfg/camera/check_table.yml
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
enable_tiled: True
|
| 2 |
+
colorize_depth: True
|
| 3 |
+
third_person_camera:
|
| 4 |
+
camera:
|
| 5 |
+
type: camera
|
| 6 |
+
mesh: pinhole
|
| 7 |
+
resolution: [640, 480]
|
| 8 |
+
frequency: 10
|
| 9 |
+
horizontal_aperture: 20.955
|
| 10 |
+
vertical_aperture: 15.71625
|
| 11 |
+
focal_length: 7.45708219
|
| 12 |
+
pos: [0.0, 0.4, 1.15]
|
| 13 |
+
ori: [-44.885, 0, 180]
|
| 14 |
+
clipping_range: [0.1, 10.0]
|
| 15 |
+
|
| 16 |
+
random: # randomization parameters
|
| 17 |
+
pos:
|
| 18 |
+
min: [0, 0, 0]
|
| 19 |
+
max: [0, 0, 0]
|
| 20 |
+
ori:
|
| 21 |
+
min: [0, 0, 0]
|
| 22 |
+
max: [0, 0, 0]
|
| 23 |
+
|
| 24 |
+
action_noise:
|
| 25 |
+
pos:
|
| 26 |
+
min: [0, 0, 0]
|
| 27 |
+
max: [0, 0, 0]
|
| 28 |
+
ori:
|
| 29 |
+
min: [0, 0, 0]
|
| 30 |
+
max: [0, 0, 0]
|
| 31 |
+
annotator:
|
| 32 |
+
enabled: True
|
| 33 |
+
rgb_capture:
|
| 34 |
+
type: rgb
|
| 35 |
+
device: cpu
|
env_cfg/camera/wrist_camera.yml
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
camera:
|
| 2 |
+
type: camera
|
| 3 |
+
mesh: pinhole
|
| 4 |
+
resolution: [320, 240]
|
| 5 |
+
focal_length: 19.95
|
| 6 |
+
horizontal_aperture: 20.955
|
| 7 |
+
vertical_aperture: 15.71625
|
| 8 |
+
clipping_range: [0.02, 10.0]
|
| 9 |
+
random: # randomization parameters
|
| 10 |
+
pos:
|
| 11 |
+
min: [0, 0, 0]
|
| 12 |
+
max: [0, 0, 0]
|
| 13 |
+
ori:
|
| 14 |
+
min: [0, 0, 0]
|
| 15 |
+
max: [0, 0, 0]
|
| 16 |
+
action_noise:
|
| 17 |
+
pos:
|
| 18 |
+
min: [0, 0, 0]
|
| 19 |
+
max: [0, 0, 0]
|
| 20 |
+
ori:
|
| 21 |
+
min: [0, 0, 0]
|
| 22 |
+
max: [0, 0, 0]
|
| 23 |
+
annotator:
|
| 24 |
+
enabled: True
|
| 25 |
+
rgb_capture:
|
| 26 |
+
type: rgb
|
| 27 |
+
device: cpu
|
env_cfg/check_stable.yml
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
config_name: check_stable
|
| 2 |
+
|
| 3 |
+
config:
|
| 4 |
+
sim: sim_config_multi
|
| 5 |
+
scene: check_stable
|
| 6 |
+
|
| 7 |
+
data_collect_cfg:
|
| 8 |
+
data_num: 2000
|
| 9 |
+
reset_interval: 1
|
| 10 |
+
|
| 11 |
+
observation:
|
| 12 |
+
type: hdf5 # lerobot
|
| 13 |
+
save_dir: ./data
|
| 14 |
+
collect_freq: 10
|
| 15 |
+
collect:
|
| 16 |
+
robot:
|
| 17 |
+
joint_states: true
|
| 18 |
+
world_ee_state: true
|
| 19 |
+
embodiment_ee_state: true
|
| 20 |
+
|
| 21 |
+
domain_randomization:
|
| 22 |
+
random_background: false
|
| 23 |
+
cluttered_table: true
|
| 24 |
+
clean_background_rate: 1
|
| 25 |
+
random_head_camera_dis: 0
|
| 26 |
+
random_table_height: 0
|
| 27 |
+
random_light: false
|
| 28 |
+
crazy_random_light_rate: 0
|
| 29 |
+
|
| 30 |
+
description:
|
| 31 |
+
seen: 50
|
| 32 |
+
unseen: 10
|
| 33 |
+
|
| 34 |
+
eval:
|
| 35 |
+
in_domain: false
|
| 36 |
+
eval_time: 100
|
| 37 |
+
|
| 38 |
+
device_set: [0]
|
env_cfg/check_table.yml
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
config_name: check_table
|
| 2 |
+
|
| 3 |
+
config:
|
| 4 |
+
sim: sim_config_multi
|
| 5 |
+
scene: check_table
|
| 6 |
+
camera: check_table
|
| 7 |
+
|
| 8 |
+
data_collect_cfg:
|
| 9 |
+
data_num: 2000
|
| 10 |
+
reset_interval: 1
|
| 11 |
+
|
| 12 |
+
observation:
|
| 13 |
+
type: hdf5 # lerobot
|
| 14 |
+
save_dir: ./data
|
| 15 |
+
collect_freq: 10
|
| 16 |
+
collect:
|
| 17 |
+
robot:
|
| 18 |
+
joint_states: true
|
| 19 |
+
world_ee_state: true
|
| 20 |
+
embodiment_ee_state: true
|
| 21 |
+
|
| 22 |
+
domain_randomization:
|
| 23 |
+
random_background: false
|
| 24 |
+
cluttered_table: true
|
| 25 |
+
clean_background_rate: 1
|
| 26 |
+
random_head_camera_dis: 0
|
| 27 |
+
random_table_height: 0
|
| 28 |
+
random_light: false
|
| 29 |
+
crazy_random_light_rate: 0
|
| 30 |
+
|
| 31 |
+
description:
|
| 32 |
+
seen: 50
|
| 33 |
+
unseen: 10
|
| 34 |
+
|
| 35 |
+
eval:
|
| 36 |
+
in_domain: false
|
| 37 |
+
eval_time: 100
|
| 38 |
+
|
| 39 |
+
device_set: [0]
|
env_cfg/dual_franka.yml
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
config_name: test
|
| 2 |
+
|
| 3 |
+
config:
|
| 4 |
+
sim: sim_config_teleop
|
| 5 |
+
scene: scene_config
|
| 6 |
+
robot: dual_franka
|
| 7 |
+
camera: camera_config
|
| 8 |
+
|
| 9 |
+
data_collect_cfg:
|
| 10 |
+
data_num: 50
|
| 11 |
+
reset_interval: 2
|
| 12 |
+
|
| 13 |
+
observation:
|
| 14 |
+
type: hdf5 # lerobot
|
| 15 |
+
save_dir: ./data
|
| 16 |
+
collect_freq: 5
|
| 17 |
+
collect:
|
| 18 |
+
robot:
|
| 19 |
+
joint_states: true
|
| 20 |
+
world_ee_state: true
|
| 21 |
+
embodiment_ee_state: true
|
| 22 |
+
|
| 23 |
+
domain_randomization:
|
| 24 |
+
random_background: false
|
| 25 |
+
cluttered_table: true
|
| 26 |
+
clean_background_rate: 1
|
| 27 |
+
random_head_camera_dis: 0
|
| 28 |
+
random_table_height: 0
|
| 29 |
+
random_light: false
|
| 30 |
+
crazy_random_light_rate: 0
|
| 31 |
+
|
| 32 |
+
description:
|
| 33 |
+
seen: 50
|
| 34 |
+
unseen: 10
|
| 35 |
+
|
| 36 |
+
eval:
|
| 37 |
+
in_domain: false
|
| 38 |
+
eval_time: 100
|
| 39 |
+
|
| 40 |
+
device_set: [0]
|
env_cfg/dual_x5.yml
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
config_name: dual_x5
|
| 2 |
+
|
| 3 |
+
config:
|
| 4 |
+
sim: sim_config_teleop
|
| 5 |
+
scene: scene_config
|
| 6 |
+
robot: dual_x5
|
| 7 |
+
camera: camera_config
|
| 8 |
+
|
| 9 |
+
data_collect_cfg:
|
| 10 |
+
data_num: 50
|
| 11 |
+
reset_interval: 2
|
| 12 |
+
|
| 13 |
+
observation:
|
| 14 |
+
type: hdf5 # lerobot
|
| 15 |
+
save_dir: ./data
|
| 16 |
+
collect_freq: 5
|
| 17 |
+
collect:
|
| 18 |
+
robot:
|
| 19 |
+
joint_states: true
|
| 20 |
+
world_ee_state: true
|
| 21 |
+
embodiment_ee_state: true
|
| 22 |
+
|
| 23 |
+
domain_randomization:
|
| 24 |
+
random_background: false
|
| 25 |
+
cluttered_table: true
|
| 26 |
+
clean_background_rate: 1
|
| 27 |
+
random_head_camera_dis: 0
|
| 28 |
+
random_table_height: 0
|
| 29 |
+
random_light: false
|
| 30 |
+
crazy_random_light_rate: 0
|
| 31 |
+
|
| 32 |
+
description:
|
| 33 |
+
seen: 50
|
| 34 |
+
unseen: 10
|
| 35 |
+
|
| 36 |
+
eval:
|
| 37 |
+
in_domain: false
|
| 38 |
+
eval_time: 100
|
| 39 |
+
|
| 40 |
+
device_set: [0]
|
env_cfg/g1_hand.yml
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
config_name: test
|
| 2 |
+
|
| 3 |
+
config:
|
| 4 |
+
sim: sim_config_teleop
|
| 5 |
+
scene: scene_config
|
| 6 |
+
robot: g1_hand
|
| 7 |
+
camera: camera_config
|
| 8 |
+
|
| 9 |
+
data_collect_cfg:
|
| 10 |
+
data_num: 50
|
| 11 |
+
reset_interval: 2
|
| 12 |
+
|
| 13 |
+
observation:
|
| 14 |
+
type: hdf5 # lerobot
|
| 15 |
+
save_dir: ./data
|
| 16 |
+
collect_freq: 5
|
| 17 |
+
collect:
|
| 18 |
+
robot:
|
| 19 |
+
joint_states: true
|
| 20 |
+
world_ee_state: true
|
| 21 |
+
embodiment_ee_state: true
|
| 22 |
+
|
| 23 |
+
domain_randomization:
|
| 24 |
+
random_background: false
|
| 25 |
+
cluttered_table: true
|
| 26 |
+
clean_background_rate: 1
|
| 27 |
+
random_head_camera_dis: 0
|
| 28 |
+
random_table_height: 0
|
| 29 |
+
random_light: false
|
| 30 |
+
crazy_random_light_rate: 0
|
| 31 |
+
|
| 32 |
+
description:
|
| 33 |
+
seen: 50
|
| 34 |
+
unseen: 10
|
| 35 |
+
|
| 36 |
+
eval:
|
| 37 |
+
in_domain: false
|
| 38 |
+
eval_time: 100
|
| 39 |
+
|
| 40 |
+
device_set: [0]
|
env_cfg/g1_inspire.yml
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
config_name: g1_inspire
|
| 2 |
+
|
| 3 |
+
config:
|
| 4 |
+
sim: sim_config_teleop
|
| 5 |
+
scene: scene_config
|
| 6 |
+
robot: g1_inspire
|
| 7 |
+
camera: camera_config
|
| 8 |
+
|
| 9 |
+
data_collect_cfg:
|
| 10 |
+
data_num: 50
|
| 11 |
+
reset_interval: 2
|
| 12 |
+
|
| 13 |
+
observation:
|
| 14 |
+
type: hdf5 # lerobot
|
| 15 |
+
save_dir: ./data
|
| 16 |
+
collect_freq: 5
|
| 17 |
+
collect:
|
| 18 |
+
robot:
|
| 19 |
+
joint_states: true
|
| 20 |
+
world_ee_state: true
|
| 21 |
+
embodiment_ee_state: true
|
| 22 |
+
|
| 23 |
+
domain_randomization:
|
| 24 |
+
random_background: false
|
| 25 |
+
cluttered_table: true
|
| 26 |
+
clean_background_rate: 1
|
| 27 |
+
random_head_camera_dis: 0
|
| 28 |
+
random_table_height: 0
|
| 29 |
+
random_light: false
|
| 30 |
+
crazy_random_light_rate: 0
|
| 31 |
+
|
| 32 |
+
description:
|
| 33 |
+
seen: 50
|
| 34 |
+
unseen: 10
|
| 35 |
+
|
| 36 |
+
eval:
|
| 37 |
+
in_domain: false
|
| 38 |
+
eval_time: 100
|
| 39 |
+
|
| 40 |
+
device_set: [0]
|
env_cfg/robot/_robot_info.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"franka": {
|
| 3 |
+
"arm_dim": [7],
|
| 4 |
+
"ee_dim": [1]
|
| 5 |
+
},
|
| 6 |
+
"piper": {
|
| 7 |
+
"arm_dim": [6],
|
| 8 |
+
"ee_dim": [1]
|
| 9 |
+
},
|
| 10 |
+
"x5": {
|
| 11 |
+
"arm_dim": [6],
|
| 12 |
+
"ee_dim": [1]
|
| 13 |
+
},
|
| 14 |
+
"aloha_agilex": {
|
| 15 |
+
"arm_dim": [6, 6],
|
| 16 |
+
"ee_dim": [1, 1]
|
| 17 |
+
},
|
| 18 |
+
"dual_franka": {
|
| 19 |
+
"arm_dim": [7, 7],
|
| 20 |
+
"ee_dim": [1, 1]
|
| 21 |
+
},
|
| 22 |
+
"dual_x5": {
|
| 23 |
+
"arm_dim": [6, 6],
|
| 24 |
+
"ee_dim": [1, 1]
|
| 25 |
+
},
|
| 26 |
+
"g1_inspire": {
|
| 27 |
+
"arm_dim": [7, 7],
|
| 28 |
+
"ee_dim": [12, 12]
|
| 29 |
+
}
|
| 30 |
+
}
|
env_cfg/robot/aloha_agilex.yml
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: arm,
|
| 5 |
+
robot_name: aloha_agilex,
|
| 6 |
+
coupled: True,
|
| 7 |
+
default_root_pos: [0, -0.65, 0.0],
|
| 8 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 9 |
+
grasp_perfect_direction: ["front_right", "front_left"] # TODO
|
| 10 |
+
}
|
env_cfg/robot/dual_franka.yml
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: arm,
|
| 5 |
+
robot_name: franka,
|
| 6 |
+
coupled: False,
|
| 7 |
+
default_root_pos: [-0.4, -0.65, 0.75],
|
| 8 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 9 |
+
grasp_perfect_direction: "right" # TODO
|
| 10 |
+
}
|
| 11 |
+
- {
|
| 12 |
+
robot_type: arm,
|
| 13 |
+
robot_name: franka,
|
| 14 |
+
coupled: False,
|
| 15 |
+
default_root_pos: [0.4, -0.65, 0.75],
|
| 16 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 17 |
+
grasp_perfect_direction: "left" # TODO
|
| 18 |
+
}
|
env_cfg/robot/dual_piper.yml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robots:
|
| 2 |
+
- {
|
| 3 |
+
robot_type: arm,
|
| 4 |
+
robot_name: piper,
|
| 5 |
+
coupled: False,
|
| 6 |
+
default_root_pos: [-0.3, -0.45, 0.75],
|
| 7 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 8 |
+
grasp_perfect_direction: "right" # TODO
|
| 9 |
+
}
|
| 10 |
+
- {
|
| 11 |
+
robot_type: arm,
|
| 12 |
+
robot_name: piper,
|
| 13 |
+
coupled: False,
|
| 14 |
+
default_root_pos: [0.3, -0.45, 0.75],
|
| 15 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 16 |
+
grasp_perfect_direction: "left" # TODO
|
| 17 |
+
}
|
env_cfg/robot/dual_umi.yml
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: umi,
|
| 5 |
+
robot_name: panda_hand,
|
| 6 |
+
coupled: False,
|
| 7 |
+
default_root_pos: [-0.4, -0.205, 0.945],
|
| 8 |
+
default_root_rot: [0.0, 0.707, 0.707, 0.0],
|
| 9 |
+
grasp_perfect_direction: "right" # TODO
|
| 10 |
+
}
|
| 11 |
+
- {
|
| 12 |
+
robot_type: umi,
|
| 13 |
+
robot_name: panda_hand,
|
| 14 |
+
coupled: False,
|
| 15 |
+
default_root_pos: [0.4, -0.205, 0.945],
|
| 16 |
+
default_root_rot: [0.0, 0.707, 0.707, 0.0],
|
| 17 |
+
grasp_perfect_direction: "left" # TODO
|
| 18 |
+
}
|
env_cfg/robot/dual_ur5e.yml
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: arm,
|
| 5 |
+
robot_name: ur5e,
|
| 6 |
+
coupled: False,
|
| 7 |
+
default_root_pos: [-0.3, -0.75, 0.75],
|
| 8 |
+
default_root_rot: [1, 0, 0, 0],
|
| 9 |
+
grasp_perfect_direction: "right" # TODO
|
| 10 |
+
}
|
| 11 |
+
- {
|
| 12 |
+
robot_type: arm,
|
| 13 |
+
robot_name: ur5e,
|
| 14 |
+
coupled: False,
|
| 15 |
+
default_root_pos: [0.3, -0.75, 0.75],
|
| 16 |
+
default_root_rot: [1, 0, 0, 0],
|
| 17 |
+
grasp_perfect_direction: "left" # TODO
|
| 18 |
+
}
|
env_cfg/robot/dual_x5.yml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robots:
|
| 2 |
+
- {
|
| 3 |
+
robot_type: arm,
|
| 4 |
+
robot_name: x5,
|
| 5 |
+
coupled: False,
|
| 6 |
+
default_root_pos: [-0.3, -0.35, 0.784],
|
| 7 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 8 |
+
grasp_perfect_direction: "front_right" # TODO
|
| 9 |
+
}
|
| 10 |
+
- {
|
| 11 |
+
robot_type: arm,
|
| 12 |
+
robot_name: x5,
|
| 13 |
+
coupled: False,
|
| 14 |
+
default_root_pos: [0.3, -0.35, 0.784],
|
| 15 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 16 |
+
grasp_perfect_direction: "front_left" # TODO
|
| 17 |
+
}
|
env_cfg/robot/dual_y1.yml
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: arm,
|
| 5 |
+
robot_name: y1_dual,
|
| 6 |
+
coupled: True,
|
| 7 |
+
default_root_pos: [0, -0.45, 0.76],
|
| 8 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 9 |
+
grasp_perfect_direction: ["front_right", "front_left"] # TODO
|
| 10 |
+
}
|
env_cfg/robot/g1_inspire.yml
ADDED
|
@@ -0,0 +1,26 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: teleop,
|
| 5 |
+
robot_name: g1_inspire,
|
| 6 |
+
coupled: True,
|
| 7 |
+
default_root_pos: [0, -0.45, 0.75],
|
| 8 |
+
default_root_rot: [0.707, 0, 0, 0.707],
|
| 9 |
+
send_joints_name: ['left_elbow_joint',
|
| 10 |
+
'left_index_intermediate_joint', 'left_index_proximal_joint',
|
| 11 |
+
'left_middle_intermediate_joint', 'left_middle_proximal_joint',
|
| 12 |
+
'left_pinky_intermediate_joint', 'left_pinky_proximal_joint',
|
| 13 |
+
'left_ring_intermediate_joint', 'left_ring_proximal_joint',
|
| 14 |
+
'left_shoulder_pitch_joint', 'left_shoulder_roll_joint', 'left_shoulder_yaw_joint',
|
| 15 |
+
'left_thumb_distal_joint', 'left_thumb_intermediate_joint', 'left_thumb_proximal_pitch_joint', 'left_thumb_proximal_yaw_joint',
|
| 16 |
+
'left_wrist_pitch_joint', 'left_wrist_roll_joint', 'left_wrist_yaw_joint',
|
| 17 |
+
'right_elbow_joint',
|
| 18 |
+
'right_index_intermediate_joint', 'right_index_proximal_joint',
|
| 19 |
+
'right_middle_intermediate_joint', 'right_middle_proximal_joint',
|
| 20 |
+
'right_pinky_intermediate_joint', 'right_pinky_proximal_joint',
|
| 21 |
+
'right_ring_intermediate_joint', 'right_ring_proximal_joint',
|
| 22 |
+
'right_shoulder_pitch_joint', 'right_shoulder_roll_joint', 'right_shoulder_yaw_joint',
|
| 23 |
+
'right_thumb_distal_joint', 'right_thumb_intermediate_joint', 'right_thumb_proximal_pitch_joint', 'right_thumb_proximal_yaw_joint',
|
| 24 |
+
'right_wrist_pitch_joint', 'right_wrist_roll_joint', 'right_wrist_yaw_joint'],
|
| 25 |
+
grasp_perfect_direction: ["front_right", "front_left"] # TODO
|
| 26 |
+
}
|
env_cfg/robot/robot_config.yml
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# robot type: umi, arm, human....
|
| 2 |
+
robots:
|
| 3 |
+
- {
|
| 4 |
+
robot_type: umi,
|
| 5 |
+
robot_name: panda_hand,
|
| 6 |
+
default_root_pos: [-0.4, -0.205, 0.945],
|
| 7 |
+
default_root_rot: [0.0, 0.707, 0.707, 0.0],
|
| 8 |
+
grasp_perfect_direction: "right" # TODO
|
| 9 |
+
}
|
| 10 |
+
- {
|
| 11 |
+
robot_type: umi,
|
| 12 |
+
robot_name: panda_hand,
|
| 13 |
+
default_root_pos: [0.4, -0.205, 0.945],
|
| 14 |
+
default_root_rot: [0.0, 0.707, 0.707, 0.0],
|
| 15 |
+
grasp_perfect_direction: "left" # TODO
|
| 16 |
+
}
|
| 17 |
+
# - {
|
| 18 |
+
# robot_type: umi,
|
| 19 |
+
# robot_name: UMI,
|
| 20 |
+
# default_root_pos: [0.4, -0.205, 1.145],
|
| 21 |
+
# default_root_rot: [0.0, 0.707, 0.707, 0.0],
|
| 22 |
+
# grasp_perfect_direction: "left" # TODO
|
| 23 |
+
# }
|
| 24 |
+
# - {
|
| 25 |
+
# robot_type: arm,
|
| 26 |
+
# robot_name: franka,
|
| 27 |
+
# default_root_pos: [0.4, -0.65, 0.75],
|
| 28 |
+
# default_root_rot: [0.707, 0, 0, 0.707],
|
| 29 |
+
# grasp_perfect_direction: "left" # TODO
|
| 30 |
+
# }
|
| 31 |
+
# - {
|
| 32 |
+
# robot_type: arm,
|
| 33 |
+
# robot_name: y1,
|
| 34 |
+
# default_root_pos: [0, -0.35, 0.784],
|
| 35 |
+
# default_root_rot: [0.707, 0, 0, 0.707],
|
| 36 |
+
# grasp_perfect_direction: "left" # TODO
|
| 37 |
+
# }
|
| 38 |
+
|
env_cfg/scene/check_stable.yml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
room:
|
| 2 |
+
random: False
|
| 3 |
+
pos: [0.0, 0.0, 0.0]
|
| 4 |
+
rot: [1.0, 0.0, 0.0, 0.0]
|
| 5 |
+
scale: [0.5, 0.5, 0.5]
|
| 6 |
+
|
| 7 |
+
table:
|
| 8 |
+
random: False
|
| 9 |
+
default: material_0001
|
| 10 |
+
scale: [1.4, 0.8, 0.05]
|
| 11 |
+
position: [0.0, 0.0, 0.74]
|
| 12 |
+
orientation: [1.0, 0.0, 0.0, 0.0]
|
| 13 |
+
|
| 14 |
+
background:
|
| 15 |
+
intensity: [1000, 2000]
|
| 16 |
+
random: False
|
| 17 |
+
default: "brown_photostudio_02_16k.hdr"
|