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@@ -57,3 +57,13 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text

000/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

000/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951116c13b9e0db280896c5117e8770e2cbfea1151b9d260b81cdb5c4301f57c
+size 720896

000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

000/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d94e9af5088e8ceae5c9fc4e570609b237b22472351d5ab46a4167ca8687f9
+size 5465

001/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

001/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f75e05f78bd79df605c511c3e66b864c2af09856cc33c6dc599e5decfa79d04c
+size 704512

001/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

001/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710cf4d0b948467501930f05fe98ba864861723fb06e049516792a1c31c31250
+size 5465

002/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

002/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf0afaa4c976b1583e99a57b5b4ed0a8ea7591eb6493250862a9240d636296ee
+size 716800

002/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

002/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd2c84f6e0dcd69e32fe9cff1520248f89de04d6e184ec423b6610f59a75257
+size 5465

003/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

003/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91f7e09f781b189641a3e18881820981618891f4fad7d4ff220e9e3de8973b1
+size 724992

003/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

003/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a02d1dd53add5cf6b1424b2794eaee6bcd418430d6cb6b3155b090e188aeef
+size 5465

004/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

004/lmdb/data.mdb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7de37704b2c0e6e8eed2184c35cc684a11924c8b16989ce56c59b46c8edcfe
+size 696320

004/lmdb/info.json

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+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

004/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1d15b0830ff66054e11116e2002f4898a45433f86bcf880bfaba00061af8e6
+size 5465

005/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

005/lmdb/data.mdb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7d621abe62b6b2b5b3d906e34a36d2650a4beefff290e2e1b5056501230fdd0b
+size 712704

005/lmdb/info.json

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+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

005/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453fdace8685fb0f2d7aa125ff96ed72f8990c29363aa1b5e40447874bc2bb11
+size 5465

006/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

006/lmdb/data.mdb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:12aa55d7ec697e0b4c7090bcfc569ae5b796c880d85074c3d2a86584d1a9db25
+size 720896

006/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

006/meta_info.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:851ca07febde834e3e41b3e63af40298dc4ad27adcf9a41331db9aad5c44be53
+size 5465

007/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

007/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:364b85d9c2040faa642a92268ce0f05599a533d0e3965d61724f977aef4f7ff2
+size 704512

007/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

007/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d79c9ea243162108d465c1c3662e3566094a5ce8e0738669b81fae6a7c80163f
+size 5465

008/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

008/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48952aa9ec0dbbe43de173e04e620a5c30ad25250edf1ab9732e9367e3b7ac3
+size 716800

008/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

008/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712e7d805e1e4eb96a56bb4e98737d5e85704a369f36e28e5b3c080d7d640711
+size 5465

009/config.yaml

@@ -0,0 +1,117 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_episode: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  - type: ccd
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true
+        force_fixed_grasp: true
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Banana/banana_plate_4035_none-wow-wot-woh-now
+  usd_name: scene_usds/debug_scenes/banana_plate_scenes/base

009/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4351e41cd03afa128297fc6a80129eade669fa7ae355bfb55215e4ad66d8953d
+size 708608

009/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}