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/dev/null +++ b/data/handover_bottle_and_put_into_dustbin/g1_inspire/video/episode_0000004_cam_third_view.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:384148a16c1170f65e78c1c622de80de56662eefe637578a37a85aa6c51c06eb +size 276961 diff --git a/env_cfg/camera/_camera_config.yml b/env_cfg/camera/_camera_config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f2e217fddcc474c6e30ef190374140755dfb2dc5 --- /dev/null +++ b/env_cfg/camera/_camera_config.yml @@ -0,0 +1,56 @@ +L515: + type: pinhole + fovy: 45 + w: 320 + h: 180 + horizontal_aperture: 20.955 + +Large_L515: + type: pinhole + fovy: 45 + w: 640 + h: 360 + +D435: + type: pinhole + fovy: 43 + w: 320 + h: 240 + horizontal_aperture: 20.955 + +Large_D435: + type: pinhole + fovy: 37 + w: 640 + h: 480 + horizontal_aperture: 20.955 + +Third_Camera: + type: pinhole + fovy: 93 + w: 640 + h: 480 + horizontal_aperture: 20.955 + +Fish: + type: fisheye + max_fov: 180 + w: 640 + h: 480 + horizontal_aperture: 20.955 + k: [0.01, 0.0135, 0.0, 0.0, 0.0, 0.0] + fx_px: 900.0 + fy_px: 800.0 + +y1Fish: + type: y1fisheye + max_fov: 210 + w: 2080 + h: 2080 # To obtain a complete fisheye view, set the maximum value to enable automatic scaling + optical_center: [960, 540] + focal_length: 0.105 + horizontal_aperture: 0.537 + vertical_aperture: 4.04 + k: [-0.15, 0.02, -0.005, 0.0, 0.0, 0.0] + fx_px: 382.5 + fy_px: 382.5 \ No newline at end of file diff --git a/env_cfg/camera/_template.yaml b/env_cfg/camera/_template.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9128cd74cbf675e25702b888d92615eb5590b889 --- /dev/null +++ b/env_cfg/camera/_template.yaml @@ -0,0 +1,137 @@ +enable_tiled: True +colorize_depth: True +camera0: + camera: + type: camera + mesh: pinhole + # clipping_range: [0.1, 5] + resolution: [480, 640] + frequency: 50 + focal_length: 0.0169 + horizontal_aperture: 0.0693 + vertical_aperture: 0.0284 + pos: [0.04485, 0.0, 0.35325] + ori: [0, -55, -90] + clipping_range: [0.1, 5] + mount_link: "robot_0/head_link" + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu + # rgb_capture1: + # type: rgb + # device: cuda + # normals_capture: + # type: normals + # device: cpu + # normals_capture1: + # type: normals + # device: cuda + # distance_to_camera_capture: + # type: distance_to_camera + # device: cpu + # distance_to_camera_capture1: + # type: distance_to_camera + # device: cuda + # distance_to_image_plane_capture: + # type: distance_to_image_plane + # device: cpu + # distance_to_image_plane_capture1: + # type: distance_to_image_plane + # device: cuda + # semantic_segmentation_capture: + # type: semantic_segmentation + # device: cpu + # colorize: True + # semantic_types: None + # semantic_filter_predicate: None + # semantic_segmentation_capture1: + # type: semantic_segmentation + # device: cuda + # colorize: True + # semantic_types: None + # semantic_filter_predicate: None + # instance_id_segmentation_capture: + # type: instance_id_segmentation + # device: cpu + # colorize: True + # semantic_types: None + # semantic_filter_predicate: None + # instance_id_segmentation_capture1: + # type: instance_id_segmentation + # device: cuda + # colorize: True + # semantic_types: None + # semantic_filter_predicate: None + # instance_segmentation_capture: + # type: instance_segmentation + # device: cpu + # colorize: True + # semantic_types: None + # semantic_filter_predicate: None + # instance_segmentation_capture1: + # type: instance_segmentation + # device: cuda + # colorize: True + # semantic_types: None + # semantic_filter_predicate: None + # motion_vectors_capture: + # type: motion_vectors + # device: cpu + # motion_vectors_capture1: + # type: motion_vectors + # device: cuda + # occlusion_capture: + # type: occlusion + # device: cpu + # occlusion_capture1: + # type: occlusion + # device: cuda + # bounding_box_3d_capture: # Note that all annotator related to bounding_box doesn't support cuda + # type: bounding_box_3d + # device: cpu + # bounding_box_2d_loose_capture: + # type: bounding_box_2d_loose + # device: cpu + # bounding_box_2d_tight_capture: + # type: bounding_box_2d_tight + # device: cpu + # camera_params_capture: + # type: camera_params + # device: cpu + # camera_params_capture1: + # type: camera_params + # device: cuda + # pointcloud_capture: + # type: pointcloud + # device: cpu + # includeUnlabelled: True + # pointcloud_capture1: + # type: pointcloud + # device: cuda + # includeUnlabelled: False + # skeleton_data_capture: + # type: skeleton_data + # device: cpu + # useSkelJoints: False + # skeleton_data_capture1: + # type: skeleton_data + # device: cuda + # useSkelJoints: False diff --git a/env_cfg/camera/aloha_agilex.yml b/env_cfg/camera/aloha_agilex.yml new file mode 100644 index 0000000000000000000000000000000000000000..63078412b2315901aaa670a76cef68f90fb0bb42 --- /dev/null +++ b/env_cfg/camera/aloha_agilex.yml @@ -0,0 +1,106 @@ +enable_tiled: False +colorize_depth: True +third_person_camera: + camera: + type: camera + mesh: pinhole + resolution: [640, 480] + frequency: 10 + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + focal_length: 7.45708219 + pos: [0.0, 0.4, 1.15] + ori: [-44.885, 0, 180] + clipping_range: [0.1, 10.0] + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu + +head_camera: + camera: + type: camera + mesh: pinhole + resolution: [320, 240] + frequency: 10 + focal_length: 19.95 + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + # franka/piper/ARX head camera + pos: [-0.017, -0.4, 1.39] + ori: [36.877, 0, 0] + # aloha head camera + # pos: [-0.017, -0.403, 1.403] + clipping_range: [0.1, 10.0] + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu + +front_camera: + camera: + type: camera + mesh: pinhole + resolution: [640, 480] + frequency: 10 + focal_length: 19.95 + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + pos: [-0.016, -0.4, 0.8819] + ori: [72, 0, 0] + clipping_range: [0.1, 10.0] + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu \ No newline at end of file diff --git a/env_cfg/camera/camera_config.yml b/env_cfg/camera/camera_config.yml new file mode 100644 index 0000000000000000000000000000000000000000..6760a0552f531b432ad339b85bae7c7878944bef --- /dev/null +++ b/env_cfg/camera/camera_config.yml @@ -0,0 +1,104 @@ +enable_tiled: True +colorize_depth: True +cam_third_view: + camera: + type: camera + mesh: pinhole + resolution: [640, 480] + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + focal_length: 7.45708219 + pos: [0.0, 0.4, 1.15] + ori: [-44.885, 0, 180] + clipping_range: [0.1, 10.0] + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu + +cam_head: + camera: + type: camera + mesh: pinhole + resolution: [320, 240] + focal_length: 19.95 + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + # franka/piper/ARX head camera + pos: [0.0, -0.6, 1.43] + ori: [36.877, 0, 0] + # aloha head camera + # pos: [-0.017, -0.403, 1.403] + clipping_range: [0.1, 10.0] + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu + +# front_camera: +# camera: +# type: camera +# mesh: pinhole +# resolution: [640, 480] +# frequency: 25 +# focal_length: 0.0169 +# horizontal_aperture: 0.0693 +# vertical_aperture: 0.0284 +# pos: [-0.016, -0.4, 0.8819] +# ori: [0, 5.71, 90] +# clipping_range: [0.1, 10.0] + +# random: # randomization parameters +# pos: +# min: [0, 0, 0] +# max: [0, 0, 0] +# ori: +# min: [0, 0, 0] +# max: [0, 0, 0] + +# action_noise: +# pos: +# min: [0, 0, 0] +# max: [0, 0, 0] +# ori: +# min: [0, 0, 0] +# max: [0, 0, 0] +# annotator: +# enabled: True +# rgb_capture: +# type: rgb +# device: cpu \ No newline at end of file diff --git a/env_cfg/camera/check_table.yml b/env_cfg/camera/check_table.yml new file mode 100644 index 0000000000000000000000000000000000000000..13b6b902f3fd317f43b743a9d8542adbfaefa0e8 --- /dev/null +++ b/env_cfg/camera/check_table.yml @@ -0,0 +1,35 @@ +enable_tiled: True +colorize_depth: True +third_person_camera: + camera: + type: camera + mesh: pinhole + resolution: [640, 480] + frequency: 10 + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + focal_length: 7.45708219 + pos: [0.0, 0.4, 1.15] + ori: [-44.885, 0, 180] + clipping_range: [0.1, 10.0] + + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu diff --git a/env_cfg/camera/wrist_camera.yml b/env_cfg/camera/wrist_camera.yml new file mode 100644 index 0000000000000000000000000000000000000000..88353db5525a7050e02a900f7e724f1c9618729a --- /dev/null +++ b/env_cfg/camera/wrist_camera.yml @@ -0,0 +1,27 @@ +camera: + type: camera + mesh: pinhole + resolution: [320, 240] + focal_length: 19.95 + horizontal_aperture: 20.955 + vertical_aperture: 15.71625 + clipping_range: [0.02, 10.0] + random: # randomization parameters + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] + action_noise: + pos: + min: [0, 0, 0] + max: [0, 0, 0] + ori: + min: [0, 0, 0] + max: [0, 0, 0] +annotator: + enabled: True + rgb_capture: + type: rgb + device: cpu \ No newline at end of file diff --git a/env_cfg/check_stable.yml b/env_cfg/check_stable.yml new file mode 100644 index 0000000000000000000000000000000000000000..0bf5b9f86ccab99adc0e2fe73a81f6a685da9809 --- /dev/null +++ b/env_cfg/check_stable.yml @@ -0,0 +1,38 @@ +config_name: check_stable + +config: + sim: sim_config_multi + scene: check_stable + +data_collect_cfg: + data_num: 2000 + reset_interval: 1 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 10 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/check_table.yml b/env_cfg/check_table.yml new file mode 100644 index 0000000000000000000000000000000000000000..65fe0c7edc39211c5a00fafb4fd8926098f1022a --- /dev/null +++ b/env_cfg/check_table.yml @@ -0,0 +1,39 @@ +config_name: check_table + +config: + sim: sim_config_multi + scene: check_table + camera: check_table + +data_collect_cfg: + data_num: 2000 + reset_interval: 1 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 10 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/dual_franka.yml b/env_cfg/dual_franka.yml new file mode 100644 index 0000000000000000000000000000000000000000..c80fef9063d2a948896e62abe60275b055ec2dae --- /dev/null +++ b/env_cfg/dual_franka.yml @@ -0,0 +1,40 @@ +config_name: test + +config: + sim: sim_config_teleop + scene: scene_config + robot: dual_franka + camera: camera_config + +data_collect_cfg: + data_num: 50 + reset_interval: 2 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 5 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/dual_x5.yml b/env_cfg/dual_x5.yml new file mode 100644 index 0000000000000000000000000000000000000000..0480f0980b8d29dd23060b74bcddf44fb04b7581 --- /dev/null +++ b/env_cfg/dual_x5.yml @@ -0,0 +1,40 @@ +config_name: dual_x5 + +config: + sim: sim_config_teleop + scene: scene_config + robot: dual_x5 + camera: camera_config + +data_collect_cfg: + data_num: 50 + reset_interval: 2 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 5 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/g1_hand.yml b/env_cfg/g1_hand.yml new file mode 100644 index 0000000000000000000000000000000000000000..21dcc0f641c186dac9931edea396beaf41b3c864 --- /dev/null +++ b/env_cfg/g1_hand.yml @@ -0,0 +1,40 @@ +config_name: test + +config: + sim: sim_config_teleop + scene: scene_config + robot: g1_hand + camera: camera_config + +data_collect_cfg: + data_num: 50 + reset_interval: 2 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 5 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/g1_inspire.yml b/env_cfg/g1_inspire.yml new file mode 100644 index 0000000000000000000000000000000000000000..3138abf53e21d34c172c1afed6c1196c6038767b --- /dev/null +++ b/env_cfg/g1_inspire.yml @@ -0,0 +1,40 @@ +config_name: g1_inspire + +config: + sim: sim_config_teleop + scene: scene_config + robot: g1_inspire + camera: camera_config + +data_collect_cfg: + data_num: 50 + reset_interval: 2 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 5 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/robot/_robot_info.json b/env_cfg/robot/_robot_info.json new file mode 100644 index 0000000000000000000000000000000000000000..7f02d05d1ef5ab7793f6cfa95a9aacbd3399da9d --- /dev/null +++ b/env_cfg/robot/_robot_info.json @@ -0,0 +1,30 @@ +{ + "franka": { + "arm_dim": [7], + "ee_dim": [1] + }, + "piper": { + "arm_dim": [6], + "ee_dim": [1] + }, + "x5": { + "arm_dim": [6], + "ee_dim": [1] + }, + "aloha_agilex": { + "arm_dim": [6, 6], + "ee_dim": [1, 1] + }, + "dual_franka": { + "arm_dim": [7, 7], + "ee_dim": [1, 1] + }, + "dual_x5": { + "arm_dim": [6, 6], + "ee_dim": [1, 1] + }, + "g1_inspire": { + "arm_dim": [7, 7], + "ee_dim": [12, 12] + } +} \ No newline at end of file diff --git a/env_cfg/robot/aloha_agilex.yml b/env_cfg/robot/aloha_agilex.yml new file mode 100644 index 0000000000000000000000000000000000000000..f26d2f06f464673c07b655ad8ea459b6058d4445 --- /dev/null +++ b/env_cfg/robot/aloha_agilex.yml @@ -0,0 +1,10 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: arm, + robot_name: aloha_agilex, + coupled: True, + default_root_pos: [0, -0.65, 0.0], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: ["front_right", "front_left"] # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/dual_franka.yml b/env_cfg/robot/dual_franka.yml new file mode 100644 index 0000000000000000000000000000000000000000..4e253029e3320b0bca6663121d0fe45b1e00b4a3 --- /dev/null +++ b/env_cfg/robot/dual_franka.yml @@ -0,0 +1,18 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: arm, + robot_name: franka, + coupled: False, + default_root_pos: [-0.4, -0.65, 0.75], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: "right" # TODO + } + - { + robot_type: arm, + robot_name: franka, + coupled: False, + default_root_pos: [0.4, -0.65, 0.75], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: "left" # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/dual_piper.yml b/env_cfg/robot/dual_piper.yml new file mode 100644 index 0000000000000000000000000000000000000000..c5428fbe94e0af541df29ac9d93a8b962b5a9532 --- /dev/null +++ b/env_cfg/robot/dual_piper.yml @@ -0,0 +1,17 @@ +robots: + - { + robot_type: arm, + robot_name: piper, + coupled: False, + default_root_pos: [-0.3, -0.45, 0.75], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: "right" # TODO + } + - { + robot_type: arm, + robot_name: piper, + coupled: False, + default_root_pos: [0.3, -0.45, 0.75], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: "left" # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/dual_umi.yml b/env_cfg/robot/dual_umi.yml new file mode 100644 index 0000000000000000000000000000000000000000..936963784177a25274760043565af3b9fce75969 --- /dev/null +++ b/env_cfg/robot/dual_umi.yml @@ -0,0 +1,18 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: umi, + robot_name: panda_hand, + coupled: False, + default_root_pos: [-0.4, -0.205, 0.945], + default_root_rot: [0.0, 0.707, 0.707, 0.0], + grasp_perfect_direction: "right" # TODO + } + - { + robot_type: umi, + robot_name: panda_hand, + coupled: False, + default_root_pos: [0.4, -0.205, 0.945], + default_root_rot: [0.0, 0.707, 0.707, 0.0], + grasp_perfect_direction: "left" # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/dual_ur5e.yml b/env_cfg/robot/dual_ur5e.yml new file mode 100644 index 0000000000000000000000000000000000000000..efa555a0eb5bf81b8818f70d4a7f1dd22c4824c8 --- /dev/null +++ b/env_cfg/robot/dual_ur5e.yml @@ -0,0 +1,18 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: arm, + robot_name: ur5e, + coupled: False, + default_root_pos: [-0.3, -0.75, 0.75], + default_root_rot: [1, 0, 0, 0], + grasp_perfect_direction: "right" # TODO + } + - { + robot_type: arm, + robot_name: ur5e, + coupled: False, + default_root_pos: [0.3, -0.75, 0.75], + default_root_rot: [1, 0, 0, 0], + grasp_perfect_direction: "left" # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/dual_x5.yml b/env_cfg/robot/dual_x5.yml new file mode 100644 index 0000000000000000000000000000000000000000..c0d187a47d8004d2e8098a65d68021416e0db470 --- /dev/null +++ b/env_cfg/robot/dual_x5.yml @@ -0,0 +1,17 @@ +robots: + - { + robot_type: arm, + robot_name: x5, + coupled: False, + default_root_pos: [-0.3, -0.35, 0.784], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: "front_right" # TODO + } + - { + robot_type: arm, + robot_name: x5, + coupled: False, + default_root_pos: [0.3, -0.35, 0.784], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: "front_left" # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/dual_y1.yml b/env_cfg/robot/dual_y1.yml new file mode 100644 index 0000000000000000000000000000000000000000..dd2b47bed4ed04d5dc0e56e0b6bcd4c141e1b10c --- /dev/null +++ b/env_cfg/robot/dual_y1.yml @@ -0,0 +1,10 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: arm, + robot_name: y1_dual, + coupled: True, + default_root_pos: [0, -0.45, 0.76], + default_root_rot: [0.707, 0, 0, 0.707], + grasp_perfect_direction: ["front_right", "front_left"] # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/g1_inspire.yml b/env_cfg/robot/g1_inspire.yml new file mode 100644 index 0000000000000000000000000000000000000000..617e915ad4b3b83da19069b18b9287879e93360c --- /dev/null +++ b/env_cfg/robot/g1_inspire.yml @@ -0,0 +1,26 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: teleop, + robot_name: g1_inspire, + coupled: True, + default_root_pos: [0, -0.45, 0.75], + default_root_rot: [0.707, 0, 0, 0.707], + send_joints_name: ['left_elbow_joint', + 'left_index_intermediate_joint', 'left_index_proximal_joint', + 'left_middle_intermediate_joint', 'left_middle_proximal_joint', + 'left_pinky_intermediate_joint', 'left_pinky_proximal_joint', + 'left_ring_intermediate_joint', 'left_ring_proximal_joint', + 'left_shoulder_pitch_joint', 'left_shoulder_roll_joint', 'left_shoulder_yaw_joint', + 'left_thumb_distal_joint', 'left_thumb_intermediate_joint', 'left_thumb_proximal_pitch_joint', 'left_thumb_proximal_yaw_joint', + 'left_wrist_pitch_joint', 'left_wrist_roll_joint', 'left_wrist_yaw_joint', + 'right_elbow_joint', + 'right_index_intermediate_joint', 'right_index_proximal_joint', + 'right_middle_intermediate_joint', 'right_middle_proximal_joint', + 'right_pinky_intermediate_joint', 'right_pinky_proximal_joint', + 'right_ring_intermediate_joint', 'right_ring_proximal_joint', + 'right_shoulder_pitch_joint', 'right_shoulder_roll_joint', 'right_shoulder_yaw_joint', + 'right_thumb_distal_joint', 'right_thumb_intermediate_joint', 'right_thumb_proximal_pitch_joint', 'right_thumb_proximal_yaw_joint', + 'right_wrist_pitch_joint', 'right_wrist_roll_joint', 'right_wrist_yaw_joint'], + grasp_perfect_direction: ["front_right", "front_left"] # TODO + } \ No newline at end of file diff --git a/env_cfg/robot/robot_config.yml b/env_cfg/robot/robot_config.yml new file mode 100644 index 0000000000000000000000000000000000000000..04fa4bca6acca3ee0ed8db5fc60ab293f381a5a6 --- /dev/null +++ b/env_cfg/robot/robot_config.yml @@ -0,0 +1,38 @@ +# robot type: umi, arm, human.... +robots: + - { + robot_type: umi, + robot_name: panda_hand, + default_root_pos: [-0.4, -0.205, 0.945], + default_root_rot: [0.0, 0.707, 0.707, 0.0], + grasp_perfect_direction: "right" # TODO + } + - { + robot_type: umi, + robot_name: panda_hand, + default_root_pos: [0.4, -0.205, 0.945], + default_root_rot: [0.0, 0.707, 0.707, 0.0], + grasp_perfect_direction: "left" # TODO + } + # - { + # robot_type: umi, + # robot_name: UMI, + # default_root_pos: [0.4, -0.205, 1.145], + # default_root_rot: [0.0, 0.707, 0.707, 0.0], + # grasp_perfect_direction: "left" # TODO + # } + # - { + # robot_type: arm, + # robot_name: franka, + # default_root_pos: [0.4, -0.65, 0.75], + # default_root_rot: [0.707, 0, 0, 0.707], + # grasp_perfect_direction: "left" # TODO + # } + # - { + # robot_type: arm, + # robot_name: y1, + # default_root_pos: [0, -0.35, 0.784], + # default_root_rot: [0.707, 0, 0, 0.707], + # grasp_perfect_direction: "left" # TODO + # } + \ No newline at end of file diff --git a/env_cfg/scene/check_stable.yml b/env_cfg/scene/check_stable.yml new file mode 100644 index 0000000000000000000000000000000000000000..a23c2237cf97eec00460183aac30eaba93cbec06 --- /dev/null +++ b/env_cfg/scene/check_stable.yml @@ -0,0 +1,17 @@ +room: + random: False + pos: [0.0, 0.0, 0.0] + rot: [1.0, 0.0, 0.0, 0.0] + scale: [0.5, 0.5, 0.5] + +table: + random: False + default: material_0001 + scale: [1.4, 0.8, 0.05] + position: [0.0, 0.0, 0.74] + orientation: [1.0, 0.0, 0.0, 0.0] + +background: + intensity: [1000, 2000] + random: False + default: "brown_photostudio_02_16k.hdr" \ No newline at end of file diff --git a/env_cfg/scene/check_table.yml b/env_cfg/scene/check_table.yml new file mode 100644 index 0000000000000000000000000000000000000000..cbef51b631f303e2019b17f66dabcfa02717fd39 --- /dev/null +++ b/env_cfg/scene/check_table.yml @@ -0,0 +1,11 @@ +table: + random: True + default: material_0001 + scale: [1.4, 0.8, 0.05] + position: [0.0, 0.0, 0.74] + orientation: [1.0, 0.0, 0.0, 0.0] + +background: + intensity: [1000, 2000] + random: False + default: "brown_photostudio_02_16k.hdr" \ No newline at end of file diff --git a/env_cfg/scene/scene_config.yml b/env_cfg/scene/scene_config.yml new file mode 100644 index 0000000000000000000000000000000000000000..c449363155a1a497dedb032763a4a33fb4c48afc --- /dev/null +++ b/env_cfg/scene/scene_config.yml @@ -0,0 +1,92 @@ +Room: + random: False + default: "base0" + default_pos: [0.0, 0.0, 0.0] + default_rot: [1.0, 0.0, 0.0, 0.0] + scale: [0.5, 0.5, 0.5] + +Table: + random: True + default: material_0001 + scale: [1.4, 0.8, 0.05] + default_pos: [0.0, 0.0, 0.74] + default_ori: [1.0, 0.0, 0.0, 0.0] + +Background: + intensity: 1500 + random: True + default: "brown_photostudio_02_16k.hdr" + +Ground: + geometry: "cube" + thickness: 0.1 + axis: "Z" + default_pos: [0.0, 0.0, 0.0] + materials: + type: mdl + random: True + default: material_0001 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: "multiply" + restitution_combine_mode: "multiply" + compliant_contact_stiffness: 0.0 + compliant_contact_damping: 0.0 + +# Light: +# light_1: +# types: ["Rect", "Sphere", "Cylinder", "Dome"] +# common: +# initial_pos_range: [-0.2, -0.2, 1.1, 0.2, 0.5, 1.1] +# initial_ori_range: [-30, -30, -30, 30, 30, 30] +# color_temperature_range: [3000, 9000] +# color_range: [[0.8, 0.8, 0.8], [1.2, 1.2, 1.2]] +# Dome: +# intensity_range: [800, 1500] +# Rect: +# intensity_range: [2000, 5000] +# width_range: [1.0, 3.0] +# height_range: [1.0, 3.0] +# Distant: +# intensity_range: [2000, 5000] +# angle_range: [0.5, 2.0] +# Sphere: +# intensity_range: [5000, 10000] +# radius_range: [0.1, 0.5] +# Cylinder: +# intensity_range: [4000, 8000] +# radius_range: [0.1, 0.3] +# length_range: [1.0, 2.0] +# Disk: +# intensity_range: [6000, 12000] +# radius_range: [0.2, 0.8] + +# light_2: +# types: ["Rect", "Sphere", "Cylinder", "Dome"] +# common: +# initial_pos_range: [-0.2, -0.2, 1.1, 0.2, 0.5, 1.1] +# initial_ori_range: [-30, -30, -30, 30, 30, 30] +# color_temperature_range: [3000, 9000] +# color_range: [[0.8, 0.8, 0.8], [1.2, 1.2, 1.2]] +# Dome: +# intensity_range: [800, 1500] +# radius_range: [8.0, 12.0] +# Rect: +# intensity_range: [2000, 5000] +# width_range: [1.0, 3.0] +# height_range: [1.0, 3.0] +# Distant: +# intensity_range: [2000, 5000] +# angle_range: [0.5, 2.0] +# Sphere: +# intensity_range: [5000, 10000] +# radius_range: [0.1, 0.5] +# Cylinder: +# intensity_range: [4000, 8000] +# radius_range: [0.1, 0.3] +# length_range: [1.0, 2.0] +# Disk: +# intensity_range: [6000, 12000] +# radius_range: [0.2, 0.8] \ No newline at end of file diff --git a/env_cfg/scene/test.yml b/env_cfg/scene/test.yml new file mode 100644 index 0000000000000000000000000000000000000000..c449363155a1a497dedb032763a4a33fb4c48afc --- /dev/null +++ b/env_cfg/scene/test.yml @@ -0,0 +1,92 @@ +Room: + random: False + default: "base0" + default_pos: [0.0, 0.0, 0.0] + default_rot: [1.0, 0.0, 0.0, 0.0] + scale: [0.5, 0.5, 0.5] + +Table: + random: True + default: material_0001 + scale: [1.4, 0.8, 0.05] + default_pos: [0.0, 0.0, 0.74] + default_ori: [1.0, 0.0, 0.0, 0.0] + +Background: + intensity: 1500 + random: True + default: "brown_photostudio_02_16k.hdr" + +Ground: + geometry: "cube" + thickness: 0.1 + axis: "Z" + default_pos: [0.0, 0.0, 0.0] + materials: + type: mdl + random: True + default: material_0001 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: "multiply" + restitution_combine_mode: "multiply" + compliant_contact_stiffness: 0.0 + compliant_contact_damping: 0.0 + +# Light: +# light_1: +# types: ["Rect", "Sphere", "Cylinder", "Dome"] +# common: +# initial_pos_range: [-0.2, -0.2, 1.1, 0.2, 0.5, 1.1] +# initial_ori_range: [-30, -30, -30, 30, 30, 30] +# color_temperature_range: [3000, 9000] +# color_range: [[0.8, 0.8, 0.8], [1.2, 1.2, 1.2]] +# Dome: +# intensity_range: [800, 1500] +# Rect: +# intensity_range: [2000, 5000] +# width_range: [1.0, 3.0] +# height_range: [1.0, 3.0] +# Distant: +# intensity_range: [2000, 5000] +# angle_range: [0.5, 2.0] +# Sphere: +# intensity_range: [5000, 10000] +# radius_range: [0.1, 0.5] +# Cylinder: +# intensity_range: [4000, 8000] +# radius_range: [0.1, 0.3] +# length_range: [1.0, 2.0] +# Disk: +# intensity_range: [6000, 12000] +# radius_range: [0.2, 0.8] + +# light_2: +# types: ["Rect", "Sphere", "Cylinder", "Dome"] +# common: +# initial_pos_range: [-0.2, -0.2, 1.1, 0.2, 0.5, 1.1] +# initial_ori_range: [-30, -30, -30, 30, 30, 30] +# color_temperature_range: [3000, 9000] +# color_range: [[0.8, 0.8, 0.8], [1.2, 1.2, 1.2]] +# Dome: +# intensity_range: [800, 1500] +# radius_range: [8.0, 12.0] +# Rect: +# intensity_range: [2000, 5000] +# width_range: [1.0, 3.0] +# height_range: [1.0, 3.0] +# Distant: +# intensity_range: [2000, 5000] +# angle_range: [0.5, 2.0] +# Sphere: +# intensity_range: [5000, 10000] +# radius_range: [0.1, 0.5] +# Cylinder: +# intensity_range: [4000, 8000] +# radius_range: [0.1, 0.3] +# length_range: [1.0, 2.0] +# Disk: +# intensity_range: [6000, 12000] +# radius_range: [0.2, 0.8] \ No newline at end of file diff --git a/env_cfg/sim/sim_config_multi.yml b/env_cfg/sim/sim_config_multi.yml new file mode 100644 index 0000000000000000000000000000000000000000..04d0fd8d6242f9325758fa106598ccccb2ed1c3c --- /dev/null +++ b/env_cfg/sim/sim_config_multi.yml @@ -0,0 +1,49 @@ +device: "cpu" +use_fabric: True + +decimation: 1 +soft_resets: 100 +dt: 0.004 +render_interval: 10 +scene: + num_envs: 10 + env_spacing: 5 + +physx: + solver_type: 1 + min_position_iteration_count: 1 + max_position_iteration_count: 255 + min_velocity_iteration_count: 0 + max_velocity_iteration_count: 255 + enable_ccd: false + enable_stabilization: false + enable_enhanced_determinism: false + bounce_threshold_velocity: 0.5 + friction_offset_threshold: 0.04 + friction_correlation_distance: 0.025 + gpu_max_rigid_contact_count: 8388608 + gpu_max_rigid_patch_count: 163840 + gpu_found_lost_pairs_capacity: 2097152 + gpu_found_lost_aggregate_pairs_capacity: 33554432 + gpu_total_aggregate_pairs_capacity: 2097152 + gpu_collision_stack_size: 100000000 + gpu_heap_capacity: 67108864 + gpu_temp_buffer_capacity: 16777216 + gpu_max_num_partitions: 8 + gpu_max_soft_body_contacts: 1048576 + gpu_max_particle_contacts: 1048576 + +render: + enable_translucency: True + enable_reflections: True + enable_global_illumination: True + antialiasing_mode: null # "Off", "FXAA", "DLSS", "TAA", "DLAA" + enable_dlssg: null + enable_dl_denoiser: null + dlss_mode: null # 0=Performance, 1=Balanced, 2=Quality, 3=Auto + enable_direct_lighting: null + samples_per_pixel: null + enable_shadows: null + enable_ambient_occlusion: null + rendering_mode: "quality" # "performance", "balanced", "quality" + carb_settings: null # Custom dict for carb settings diff --git a/env_cfg/sim/sim_config_teleop.yml b/env_cfg/sim/sim_config_teleop.yml new file mode 100644 index 0000000000000000000000000000000000000000..5d8cd0b52e773d1c8e38dea2289965332580933e --- /dev/null +++ b/env_cfg/sim/sim_config_teleop.yml @@ -0,0 +1,57 @@ +device: "cpu" +use_fabric: True + +decimation: 1 +soft_resets: 100 +dt: 0.004 +render_interval: 7 +scene: + num_envs: 1 + env_spacing: 5 + +physx: + solver_type: 1 + min_position_iteration_count: 1 + max_position_iteration_count: 255 + min_velocity_iteration_count: 0 + max_velocity_iteration_count: 255 + enable_ccd: false + enable_stabilization: true + enable_enhanced_determinism: false + bounce_threshold_velocity: 0.5 + friction_offset_threshold: 0.04 + friction_correlation_distance: 0.025 + gpu_max_rigid_contact_count: 8388608 + gpu_max_rigid_patch_count: 163840 + gpu_found_lost_pairs_capacity: 2097152 + gpu_found_lost_aggregate_pairs_capacity: 33554432 + gpu_total_aggregate_pairs_capacity: 2097152 + gpu_collision_stack_size: 100000000 + gpu_heap_capacity: 67108864 + gpu_temp_buffer_capacity: 16777216 + gpu_max_num_partitions: 8 + gpu_max_soft_body_contacts: 1048576 + gpu_max_particle_contacts: 1048576 + +render: + enable_translucency: True + enable_reflections: True + enable_global_illumination: True + antialiasing_mode: null # "Off", "FXAA", "DLSS", "TAA", "DLAA" + enable_dlssg: null + enable_dl_denoiser: null + dlss_mode: null # 0=Performance, 1=Balanced, 2=Quality, 3=Auto + enable_direct_lighting: null + samples_per_pixel: null + enable_shadows: null + enable_ambient_occlusion: null + rendering_mode: "quality" # "performance", "balanced", "quality" + # carb_settings: + # /rtx/rendermode: "PathTracing" + # /rtx/pathtracing/optixDenoiser/enabled: True + # /rtx/pathtracing/spp: 1 + # /rtx/pathtracing/totalSpp: 16 + # /rtx/pathtracing/maxBounces: 2 + +frequency_settings: + /app/runLoops/main/rateLimitFrequency: 125 diff --git a/env_cfg/teleop.yml b/env_cfg/teleop.yml new file mode 100644 index 0000000000000000000000000000000000000000..a2fd9630f481ef213aead9469f5f92b8e1f94357 --- /dev/null +++ b/env_cfg/teleop.yml @@ -0,0 +1,40 @@ +config_name: test + +config: + sim: sim_config_teleop + scene: scene_config + robot: g1_inspire + camera: camera_config + +data_collect_cfg: + data_num: 50 + reset_interval: 2 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 5 + collect: + robot: + joint_states: true + world_ee_state: true + embodiment_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file diff --git a/env_cfg/test.yml b/env_cfg/test.yml new file mode 100644 index 0000000000000000000000000000000000000000..410842476475eb2799db9bc9bb350d134776f5dd --- /dev/null +++ b/env_cfg/test.yml @@ -0,0 +1,41 @@ +config_name: test + +config: + sim: sim_config_multi + scene: test + robot: dual_franka + camera: camera_config + wrist_camera: wrist_camera + +data_collect_cfg: + data_num: 1000 + reset_interval: 1 + +observation: + type: hdf5 # lerobot + save_dir: ./data + collect_freq: 25 + collect: + robot: + joint_states: true + world_ee_state: true + delta_ee_state: true + +domain_randomization: + random_background: false + cluttered_table: true + clean_background_rate: 1 + random_head_camera_dis: 0 + random_table_height: 0 + random_light: false + crazy_random_light_rate: 0 + +description: + seen: 50 + unseen: 10 + +eval: + in_domain: false + eval_time: 100 + +device_set: [0] \ No newline at end of file