diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..afe7ba21e5c4a005819eab904402b0fab963d9e8 100644 --- a/.gitattributes +++ b/.gitattributes @@ -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 diff --git a/000/config.yaml b/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/000/lmdb/data.mdb b/000/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..599fd468fe0078b4f1da4e85b831677bb8063b93 --- /dev/null +++ b/000/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:951116c13b9e0db280896c5117e8770e2cbfea1151b9d260b81cdb5c4301f57c +size 720896 diff --git a/000/lmdb/info.json b/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/000/lmdb/lock.mdb b/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/000/lmdb/lock.mdb differ diff --git a/000/meta_info.pkl b/000/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..4fad5506329cb6c707eea29aaa61ee7f16b16e05 --- /dev/null +++ b/000/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1d94e9af5088e8ceae5c9fc4e570609b237b22472351d5ab46a4167ca8687f9 +size 5465 diff --git a/001/config.yaml b/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/001/lmdb/data.mdb b/001/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75dc3cc040fe228df0288617a7b66aee5164fd66 --- /dev/null +++ b/001/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f75e05f78bd79df605c511c3e66b864c2af09856cc33c6dc599e5decfa79d04c +size 704512 diff --git a/001/lmdb/info.json b/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/001/lmdb/lock.mdb b/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/001/lmdb/lock.mdb differ diff --git a/001/meta_info.pkl b/001/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..41832e2eebee87d52d6fd8be2783716226e94d61 --- /dev/null +++ b/001/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:710cf4d0b948467501930f05fe98ba864861723fb06e049516792a1c31c31250 +size 5465 diff --git a/002/config.yaml b/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/002/lmdb/data.mdb b/002/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..de69c6aa97f19d2b9131b89034c0eba4e7b00e5c --- /dev/null +++ b/002/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf0afaa4c976b1583e99a57b5b4ed0a8ea7591eb6493250862a9240d636296ee +size 716800 diff --git a/002/lmdb/info.json b/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/002/lmdb/lock.mdb b/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/002/lmdb/lock.mdb differ diff --git a/002/meta_info.pkl b/002/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a190dc2d020f771f0b1a0908156c9852fd63cc3f --- /dev/null +++ b/002/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd2c84f6e0dcd69e32fe9cff1520248f89de04d6e184ec423b6610f59a75257 +size 5465 diff --git a/003/config.yaml b/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/003/lmdb/data.mdb b/003/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..096ec151f0106527abe6c4cbe2ece7dbfbe804ff --- /dev/null +++ b/003/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f91f7e09f781b189641a3e18881820981618891f4fad7d4ff220e9e3de8973b1 +size 724992 diff --git a/003/lmdb/info.json b/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/003/lmdb/lock.mdb b/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/003/lmdb/lock.mdb differ diff --git a/003/meta_info.pkl b/003/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1e1eade5f2b8dac672f9eee464e87a5b6e42d89b --- /dev/null +++ b/003/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83a02d1dd53add5cf6b1424b2794eaee6bcd418430d6cb6b3155b090e188aeef +size 5465 diff --git a/004/config.yaml b/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/004/lmdb/data.mdb b/004/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..042bfdd0dca5615d3556a1da36bc43445f18ee27 --- /dev/null +++ b/004/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b7de37704b2c0e6e8eed2184c35cc684a11924c8b16989ce56c59b46c8edcfe +size 696320 diff --git a/004/lmdb/info.json b/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/004/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]}]} \ No newline at end of file diff --git a/004/lmdb/lock.mdb b/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/004/lmdb/lock.mdb differ diff --git a/004/meta_info.pkl b/004/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6fdc90bf0ce5fb98e5ec17531682c5d4d172fd0f --- /dev/null +++ b/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea1d15b0830ff66054e11116e2002f4898a45433f86bcf880bfaba00061af8e6 +size 5465 diff --git a/005/config.yaml b/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/005/lmdb/data.mdb b/005/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..47659a439263241c69b4657119e62d3caefba37f --- /dev/null +++ b/005/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d621abe62b6b2b5b3d906e34a36d2650a4beefff290e2e1b5056501230fdd0b +size 712704 diff --git a/005/lmdb/info.json b/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/005/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]}]} \ No newline at end of file diff --git a/005/lmdb/lock.mdb b/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/005/lmdb/lock.mdb differ diff --git a/005/meta_info.pkl b/005/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..36cf889303048a69c3e72bc2bb4a11f940ff6e53 --- /dev/null +++ b/005/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:453fdace8685fb0f2d7aa125ff96ed72f8990c29363aa1b5e40447874bc2bb11 +size 5465 diff --git a/006/config.yaml b/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/006/lmdb/data.mdb b/006/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..845e2c2f097ce2ffae2d87989a96f88b86b7e531 --- /dev/null +++ b/006/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12aa55d7ec697e0b4c7090bcfc569ae5b796c880d85074c3d2a86584d1a9db25 +size 720896 diff --git a/006/lmdb/info.json b/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/006/lmdb/lock.mdb b/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/006/lmdb/lock.mdb differ diff --git a/006/meta_info.pkl b/006/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..d2b9343d4236f5397836a364799b50867fb427a3 --- /dev/null +++ b/006/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:851ca07febde834e3e41b3e63af40298dc4ad27adcf9a41331db9aad5c44be53 +size 5465 diff --git a/007/config.yaml b/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/007/lmdb/data.mdb b/007/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5d97f03a518eed0bec116e293101866861b2869c --- /dev/null +++ b/007/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:364b85d9c2040faa642a92268ce0f05599a533d0e3965d61724f977aef4f7ff2 +size 704512 diff --git a/007/lmdb/info.json b/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/007/lmdb/lock.mdb b/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/007/lmdb/lock.mdb differ diff --git a/007/meta_info.pkl b/007/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..998e3affb45f981e168f3d8cf0ced152c153649b --- /dev/null +++ b/007/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d79c9ea243162108d465c1c3662e3566094a5ce8e0738669b81fae6a7c80163f +size 5465 diff --git a/008/config.yaml b/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/008/lmdb/data.mdb b/008/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0c2dfadb8f3ad7e611acdfafd52f1d6757827ded --- /dev/null +++ b/008/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f48952aa9ec0dbbe43de173e04e620a5c30ad25250edf1ab9732e9367e3b7ac3 +size 716800 diff --git a/008/lmdb/info.json b/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/008/lmdb/lock.mdb b/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/008/lmdb/lock.mdb differ diff --git a/008/meta_info.pkl b/008/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..795597446d3fe39a0289aa23638e8d41f8c69792 --- /dev/null +++ b/008/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:712e7d805e1e4eb96a56bb4e98737d5e85704a369f36e28e5b3c080d7d640711 +size 5465 diff --git a/009/config.yaml b/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92a5b8230c429264e558d9529c8d4e0d1d3ff95 --- /dev/null +++ b/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 diff --git a/009/lmdb/data.mdb b/009/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8006fa427db6a2e50fe092bff1f7323867a18e8c --- /dev/null +++ b/009/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4351e41cd03afa128297fc6a80129eade669fa7ae355bfb55215e4ad66d8953d +size 708608 diff --git a/009/lmdb/info.json b/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6 --- /dev/null +++ b/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]}]} \ No newline at end of file diff --git a/009/lmdb/lock.mdb b/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..035e24007dc94169b5419968577ba7b281330997 Binary files /dev/null and b/009/lmdb/lock.mdb differ diff --git a/009/meta_info.pkl b/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..23dda9e6fbb68c4d5d32428d72570962611d73a4 --- /dev/null +++ b/009/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82565208a1745d3b486535336f943fcd9c4b8cdc22c63769664d676a3a47c64e +size 5465