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so100_simulation_new2

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Upload 200 episodes and parquets (2025-06-05 17:14:08)

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  1. generate_randomized_parquets.py +11 -11
  2. randomized_parquets/randomized_parquets/episode_20250605_170613_000.parquet +3 -0
  3. randomized_parquets/randomized_parquets/episode_20250605_170655_000.parquet +3 -0
  4. randomized_parquets/randomized_parquets/episode_20250605_170736_000.parquet +3 -0
  5. randomized_parquets/randomized_parquets/episode_20250605_170801_000.parquet +3 -0
  6. randomized_parquets/randomized_parquets/episode_20250605_170802_001.parquet +3 -0
  7. randomized_parquets/randomized_parquets/episode_20250605_170804_002.parquet +3 -0
  8. randomized_parquets/randomized_parquets/episode_20250605_170815_000.parquet +3 -0
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  10. randomized_parquets/randomized_parquets/episode_20250605_170818_002.parquet +3 -0
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  21. randomized_parquets/randomized_parquets/episode_20250605_170836_013.parquet +3 -0
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  26. randomized_parquets/randomized_parquets/episode_20250605_170844_018.parquet +3 -0
  27. randomized_parquets/randomized_parquets/episode_20250605_170846_019.parquet +3 -0
  28. randomized_parquets/randomized_parquets/episode_20250605_170847_020.parquet +3 -0
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  33. randomized_parquets/randomized_parquets/episode_20250605_170857_025.parquet +3 -0
  34. randomized_parquets/randomized_parquets/episode_20250605_170858_026.parquet +3 -0
  35. randomized_parquets/randomized_parquets/episode_20250605_170900_027.parquet +3 -0
  36. randomized_parquets/randomized_parquets/episode_20250605_170901_028.parquet +3 -0
  37. randomized_parquets/randomized_parquets/episode_20250605_170903_029.parquet +3 -0
  38. randomized_parquets/randomized_parquets/episode_20250605_170905_030.parquet +3 -0
  39. randomized_parquets/randomized_parquets/episode_20250605_170906_031.parquet +3 -0
  40. randomized_parquets/randomized_parquets/episode_20250605_170908_032.parquet +3 -0
  41. randomized_parquets/randomized_parquets/episode_20250605_170909_033.parquet +3 -0
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  47. randomized_parquets/randomized_parquets/episode_20250605_170920_039.parquet +3 -0
  48. randomized_parquets/randomized_parquets/episode_20250605_170922_040.parquet +3 -0
  49. randomized_parquets/randomized_parquets/episode_20250605_170923_041.parquet +3 -0
  50. randomized_parquets/randomized_parquets/episode_20250605_170925_042.parquet +3 -0
generate_randomized_parquets.py CHANGED
@@ -9,7 +9,7 @@ from so100_mujoco_sim.so100_ik import so100_ik, get_arm_joint_indices
9
  import mediapy as media
10
 
11
  # --- Config ---
12
- N_EPISODES = 50
13
  STEPS_PER_PHASE = 75
14
  HF_REPO_ID = "arulloomba/so100_simulation_new2" # Change if needed
15
 
@@ -25,8 +25,8 @@ VIDEO_ROOT.mkdir(exist_ok=True)
25
  CUBE_X_CENTER = .15
26
  CUBE_Y_CENTER = -0.2
27
  CUBE_Z = 0.013
28
- CUBE_X_RANGE = (CUBE_X_CENTER - 0.02, CUBE_X_CENTER + 0.02)
29
- CUBE_Y_RANGE = (CUBE_Y_CENTER - 0.02, CUBE_Y_CENTER + 0.02)
30
  # BIN_X_CENTER = 0.02
31
  # BIN_Y_CENTER = -0.25
32
  # BIN_Z = 0.0
@@ -98,25 +98,25 @@ for ep in range(N_EPISODES):
98
 
99
  # 1. Above cube
100
  qpos_above = so100_ik(model, data, cube_center + np.array([0, 0, z_offset]), point_down=True)
101
- qpos_above[3] = 1
102
- qpos_above[4] = -2
103
- qpos_above[5] = 1
104
 
105
  # 2. Grasp
106
  qpos_grasp = so100_ik(model, data, cube_center + np.array([0.04, -0.03, 0.145]), point_down=True)
107
- qpos_grasp[3] = 1
108
- qpos_grasp[4] = -2
109
- qpos_grasp[5] = 1
110
 
111
  # 3. Close gripper (same as grasp, gripper closed)
112
  qpos_closed = qpos_grasp.copy()
113
- qpos_closed[5] = -0.1
114
 
115
  # 4. Lift
116
  qpos_lift = so100_ik(model, data, cube_center + np.array([0, 0, z_offset]), point_down=True)
117
  # qpos_lift[3] = 1
118
  # qpos_lift[4] = -1.5
119
- qpos_lift[5] = -0.1
120
 
121
  # 5. Move above bin (gripper closed)
122
  # qpos_bin = so100_ik(model, data, bin_center + np.array([0.01, -0.02, z_offset_bin]), point_down=True)
 
9
  import mediapy as media
10
 
11
  # --- Config ---
12
+ N_EPISODES = 150
13
  STEPS_PER_PHASE = 75
14
  HF_REPO_ID = "arulloomba/so100_simulation_new2" # Change if needed
15
 
 
25
  CUBE_X_CENTER = .15
26
  CUBE_Y_CENTER = -0.2
27
  CUBE_Z = 0.013
28
+ CUBE_X_RANGE = (CUBE_X_CENTER - 0.1, CUBE_X_CENTER + 0.1)
29
+ CUBE_Y_RANGE = (CUBE_Y_CENTER - 0.1, CUBE_Y_CENTER + 0.1)
30
  # BIN_X_CENTER = 0.02
31
  # BIN_Y_CENTER = -0.25
32
  # BIN_Z = 0.0
 
98
 
99
  # 1. Above cube
100
  qpos_above = so100_ik(model, data, cube_center + np.array([0, 0, z_offset]), point_down=True)
101
+ # qpos_above[3] = 1
102
+ # qpos_above[4] = -2
103
+ # qpos_above[5] = 1
104
 
105
  # 2. Grasp
106
  qpos_grasp = so100_ik(model, data, cube_center + np.array([0.04, -0.03, 0.145]), point_down=True)
107
+ # qpos_grasp[3] = 1
108
+ # qpos_grasp[4] = -2
109
+ # qpos_grasp[5] = 1
110
 
111
  # 3. Close gripper (same as grasp, gripper closed)
112
  qpos_closed = qpos_grasp.copy()
113
+ # qpos_closed[5] = -0.1
114
 
115
  # 4. Lift
116
  qpos_lift = so100_ik(model, data, cube_center + np.array([0, 0, z_offset]), point_down=True)
117
  # qpos_lift[3] = 1
118
  # qpos_lift[4] = -1.5
119
+ # qpos_lift[5] = -0.1
120
 
121
  # 5. Move above bin (gripper closed)
122
  # qpos_bin = so100_ik(model, data, bin_center + np.array([0.01, -0.02, z_offset_bin]), point_down=True)
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