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b/Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/resets_ObjectRestingEEGrasped.pt new file mode 100644 index 0000000000000000000000000000000000000000..b55cf02357550057a70d0ecc3153bbc1ee32ab76 --- /dev/null +++ b/Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/resets_ObjectRestingEEGrasped.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6816795e1763850266f17a539f7bdc1dccebf5541203c8f895e3f68e147f8f8d +size 35859435 diff --git a/Props/Custom/CupCake/metadata.yaml b/Props/Custom/CupCake/metadata.yaml index f373dde445330a2590021df8c6fb650cc66a3b19..60a1e8e97b0593bb710a5317e4c35a2d85bf2894 100644 --- a/Props/Custom/CupCake/metadata.yaml +++ b/Props/Custom/CupCake/metadata.yaml @@ -1,6 +1,9 @@ assembled_offset: pos: [0.0, 0.0, -0.003] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, 0.0] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/GearBase/metadata.yaml b/Props/Custom/GearBase/metadata.yaml index 5e31c478120c365d16d9567a1934e869b46df087..8240beb49fee22c563e2d68aae355d7c951af1f7 100644 --- a/Props/Custom/GearBase/metadata.yaml +++ b/Props/Custom/GearBase/metadata.yaml @@ -1,9 +1,10 @@ assembled_offset: pos: [0.02025, 0.0, 0.0050] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.015163] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] target_mesh_path: null - +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/GearLarge/metadata.yaml b/Props/Custom/GearLarge/metadata.yaml index 71d4f99d78f7ec545de99f2effd527017f73d217..31c7c0ba35b2a1ba31e54d8f685658f8f21070bb 100644 --- a/Props/Custom/GearLarge/metadata.yaml +++ b/Props/Custom/GearLarge/metadata.yaml @@ -1,7 +1,10 @@ assembled_offset: pos: [-0.0303, 0.0, 0.0050] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.015163] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] target_mesh_path: null + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/GearMedium/metadata.yaml b/Props/Custom/GearMedium/metadata.yaml index 918335f7538d04fa125d751bb1c58103e7af0336..1d6897fba2a6f57c4d53a1c28e9b93e54d72bf04 100644 --- a/Props/Custom/GearMedium/metadata.yaml +++ b/Props/Custom/GearMedium/metadata.yaml @@ -1,7 +1,10 @@ assembled_offset: pos: [0.0, 0.0000, 0.0050] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.015163] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] target_mesh_path: null + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/InsertiveCube/metadata.yaml b/Props/Custom/InsertiveCube/metadata.yaml index 480463735eb164363b34aaf64f8731a28db5368d..916fe9678db11ce8466a559f50c3dad3429e67ab 100644 --- a/Props/Custom/InsertiveCube/metadata.yaml +++ b/Props/Custom/InsertiveCube/metadata.yaml @@ -1,6 +1,9 @@ assembled_offset: pos: [0.0, 0.0, -0.02] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.02] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/Peg/metadata.yaml b/Props/Custom/Peg/metadata.yaml index 7f7815d5abc4d2045751185411b00e5b5ec4665e..c26ef9c807172f4e7f213f537f33bb64f19ea19a 100644 --- a/Props/Custom/Peg/metadata.yaml +++ b/Props/Custom/Peg/metadata.yaml @@ -1,6 +1,9 @@ assembled_offset: pos: [0.0, 0.0, 0.0] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.03] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/PegHole/metadata.yaml b/Props/Custom/PegHole/metadata.yaml index 62597364e77594bb172072ffcc7dc8032010f79a..fb8488da785d26ef255dd583833e3ef9a1e2a257 100644 --- a/Props/Custom/PegHole/metadata.yaml +++ b/Props/Custom/PegHole/metadata.yaml @@ -1,9 +1,12 @@ assembled_offset: pos: [0.0, 0.0, 0.014837] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.015163] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] success_thresholds: position: 0.0025 - orientation: 0.025 \ No newline at end of file + orientation: 0.025 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/Plate/metadata.yaml b/Props/Custom/Plate/metadata.yaml index 865ba9f31477d2c9ddde346ffbfc64e83644e6ca..ede45d2661a75103aedbf2a2f458d824ff6bca70 100644 --- a/Props/Custom/Plate/metadata.yaml +++ b/Props/Custom/Plate/metadata.yaml @@ -1,9 +1,12 @@ assembled_offset: pos: [0.0, 0.0, 0.0] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, 0.0] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] success_thresholds: position: 0.005 - orientation: 0.025 \ No newline at end of file + orientation: 0.025 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/ReceptiveCube/metadata.yaml b/Props/Custom/ReceptiveCube/metadata.yaml index 459ede5a3af1bc8f19654afa38737f9e8ba9b8f3..201e1198b0b72b9d49bb7271f150a718d439f269 100644 --- a/Props/Custom/ReceptiveCube/metadata.yaml +++ b/Props/Custom/ReceptiveCube/metadata.yaml @@ -1,9 +1,12 @@ assembled_offset: pos: [0.0, 0.0, 0.02] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.02] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] success_thresholds: position: 0.005 - orientation: 0.025 \ No newline at end of file + orientation: 0.025 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/Rectangle/metadata.yaml b/Props/Custom/Rectangle/metadata.yaml index 3421fc68a1a45ca51a2d89066149d36257535528..1f5ba0784ce632abc05c06d48137f6e197d92e09 100644 --- a/Props/Custom/Rectangle/metadata.yaml +++ b/Props/Custom/Rectangle/metadata.yaml @@ -1,6 +1,9 @@ assembled_offset: pos: [0.0, 0.015, 0.06] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.04] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/Custom/Wall/metadata.yaml b/Props/Custom/Wall/metadata.yaml index 431fa208337d05070981058de59cda66a5847883..a05351f26e87f99dba937c1cc4b494bd5a4bba7b 100644 --- a/Props/Custom/Wall/metadata.yaml +++ b/Props/Custom/Wall/metadata.yaml @@ -1,9 +1,12 @@ assembled_offset: pos: [0.0, 0.0, 0.0] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.1] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] success_thresholds: position: 0.005 - orientation: 0.025 \ No newline at end of file + orientation: 0.025 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/FurnitureBench/DrawerBottom/metadata.yaml b/Props/FurnitureBench/DrawerBottom/metadata.yaml index 5c38cd92d462b8846cc312e4b3f683b7a24cc08e..0529131133693402206b30257e99cf3aa4996bd5 100644 --- a/Props/FurnitureBench/DrawerBottom/metadata.yaml +++ b/Props/FurnitureBench/DrawerBottom/metadata.yaml @@ -1,6 +1,9 @@ assembled_offset: pos: [0.0, 0.0, 0.0] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.016231] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/FurnitureBench/DrawerBox/metadata.yaml b/Props/FurnitureBench/DrawerBox/metadata.yaml index 140df837f76ab1d752dc83cfd2385d69bc673b59..d1a77f16030770e987866711464b9ebc05114e86 100644 --- a/Props/FurnitureBench/DrawerBox/metadata.yaml +++ b/Props/FurnitureBench/DrawerBox/metadata.yaml @@ -1,9 +1,12 @@ assembled_offset: pos: [0.0, 0.017437, -0.037283] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.058871] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] success_thresholds: position: 0.005 - orientation: 0.025 \ No newline at end of file + orientation: 0.025 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/FurnitureBench/SquareLeg/metadata.yaml b/Props/FurnitureBench/SquareLeg/metadata.yaml index 19931c5f50c32d8f841006a4d927053dff6fe097..29a07bbd43d6a721a7fbee54de23ab6270cfe9e4 100644 --- a/Props/FurnitureBench/SquareLeg/metadata.yaml +++ b/Props/FurnitureBench/SquareLeg/metadata.yaml @@ -1,6 +1,9 @@ assembled_offset: pos: [0.0, 0.0, -0.056658] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.056658] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Props/FurnitureBench/SquareTableTop/metadata.yaml b/Props/FurnitureBench/SquareTableTop/metadata.yaml index d34ef299f17c5c06b27c52b7b5c30e7838a6d5c3..e0a8a3584cc591de4b3fefbcc9b4a080bfaa3ef3 100644 --- a/Props/FurnitureBench/SquareTableTop/metadata.yaml +++ b/Props/FurnitureBench/SquareTableTop/metadata.yaml @@ -1,9 +1,12 @@ assembled_offset: pos: [0.05625, 0.05625, -0.009435] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] bottom_offset: pos: [0.0, 0.0, -0.015586] - quat: [1.0, 0.0, 0.0, 0.0] + quat: [0.0, 0.0, 0.0, 1.0] success_thresholds: position: 0.0025 - orientation: 0.025 \ No newline at end of file + orientation: 0.025 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Robots/UniversalRobots/2f85RobotiqGripper/metadata.yaml b/Robots/UniversalRobots/2f85RobotiqGripper/metadata.yaml index 6dcef9c1cd39bbaddd0064d49d08f7537f17185f..588f26cce8014c55adebae00922dd3461e488ef3 100644 --- a/Robots/UniversalRobots/2f85RobotiqGripper/metadata.yaml +++ b/Robots/UniversalRobots/2f85RobotiqGripper/metadata.yaml @@ -8,3 +8,6 @@ gripper_approach_direction: [1, 0, 0] grasp_align_axis: [1, 0, 0] orientation_sample_axis: [1, 0, 0] finger_open_joint_angle: 0.0 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Robots/UniversalRobots/2f85RobotiqGripperCalibrated/metadata.yaml b/Robots/UniversalRobots/2f85RobotiqGripperCalibrated/metadata.yaml index 6dcef9c1cd39bbaddd0064d49d08f7537f17185f..588f26cce8014c55adebae00922dd3461e488ef3 100644 --- a/Robots/UniversalRobots/2f85RobotiqGripperCalibrated/metadata.yaml +++ b/Robots/UniversalRobots/2f85RobotiqGripperCalibrated/metadata.yaml @@ -8,3 +8,6 @@ gripper_approach_direction: [1, 0, 0] grasp_align_axis: [1, 0, 0] orientation_sample_axis: [1, 0, 0] finger_open_joint_angle: 0.0 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Robots/UniversalRobots/Ur5e2f85RobotiqGripper/metadata.yaml b/Robots/UniversalRobots/Ur5e2f85RobotiqGripper/metadata.yaml index c2b5ae98c3a53f65fca695692e0acfbb04d3e02d..b57eebd575103a8176dd0030c49e371af33ca686 100644 --- a/Robots/UniversalRobots/Ur5e2f85RobotiqGripper/metadata.yaml +++ b/Robots/UniversalRobots/Ur5e2f85RobotiqGripper/metadata.yaml @@ -1,6 +1,6 @@ offset: pos: [0.0, 0.0, 0.0] - quat: [0.0, 0.0, 0.0, 1.0] + quat: [0.0, 0.0, 1.0, 0.0] gripper_offset: pos: [0.1345, 0.0, 0.0] quat: [0.5, 0.5, 0.5, 0.5] @@ -10,4 +10,7 @@ maximum_aperture: 0.09 gripper_approach_direction: [1, 0, 0] grasp_align_axis: [1, 0, 0] orientation_sample_axis: [1, 0, 0] -finger_open_joint_angle: 0.0 \ No newline at end of file +finger_open_joint_angle: 0.0 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml b/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml index 9931ea4908d0a96be2cf56f64c1b51cf40fc94f3..a2f466dba6a9f4ba98273155d513aa00cf568eaf 100644 --- a/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml +++ b/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml @@ -47,3 +47,6 @@ link_inertials: - [0.0025598989760400002, 0.0025598989760400002, 0.0021942, 0, 0, 0] - [0.0025598989760400002, 0.0025598989760400002, 0.0021942, 0, 0, 0] - [9.890410052167731e-05, 9.890410052167731e-05, 0.0001321171875, 0, 0, 0] + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw diff --git a/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibratedOld/metadata.yaml b/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibratedOld/metadata.yaml index f8433587c5441b3508018daa355ad22e7d6d6ab0..a0a0c7e70b08eb828c24f2d2312915f8326e015b 100644 --- a/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibratedOld/metadata.yaml +++ b/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibratedOld/metadata.yaml @@ -7,4 +7,7 @@ maximum_aperture: 0.09 gripper_approach_direction: [1, 0, 0] grasp_align_axis: [1, 0, 0] orientation_sample_axis: [1, 0, 0] -finger_open_joint_angle: 0.0 \ No newline at end of file +finger_open_joint_angle: 0.0 + +# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention. +quat_convention: xyzw