diff --git a/.gitignore b/.gitignore index 2bd6553..61fc9fe 100644 --- a/.gitignore +++ b/.gitignore @@ -15,4 +15,6 @@ tests/*.log tests/*.txt polygons.png _isaac_sim_410 -InterDataEngine-docs \ No newline at end of file +InterDataEngine-docs +debug.sh +debug.yaml \ No newline at end of file diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml index 88b4fa5..15e6bd9 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml @@ -125,7 +125,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.05 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 # 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml index 047243e..6ce0bb7 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml @@ -125,7 +125,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.05 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 # 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part0.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part0.yaml index 9a36307..8128c37 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part0.yaml @@ -125,8 +125,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +135,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.2 target_inner_product: 0.5 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part1.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part1.yaml index d5d3603..4efcd92 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part1.yaml @@ -125,8 +125,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +135,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.2 target_inner_product: 0.5 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml index 41e3322..dee5c2c 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml @@ -125,7 +125,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.05 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 # 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml index 1ee0a9c..6d62034 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml @@ -125,7 +125,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.05 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 # 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part0.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part0.yaml index b2eb01f..08970c9 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part0.yaml @@ -126,8 +126,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -138,7 +136,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.2 target_inner_product: 0.5 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part1.yaml b/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part1.yaml index 9d7a324..07ca71b 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part1.yaml @@ -126,8 +126,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -138,7 +136,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.2 target_inner_product: 0.5 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml b/workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml index a77fc06..af74cbb 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml @@ -126,7 +126,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part0.yaml b/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part0.yaml index 8f4a95b..a5e254f 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part0.yaml @@ -124,7 +124,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -135,7 +134,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part1.yaml b/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part1.yaml index 634beca..9865ff3 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part1.yaml @@ -124,7 +124,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -135,7 +134,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml b/workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml index 0fc35be..9c2ac82 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml @@ -126,7 +126,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml b/workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml index ce36d56..541436c 100644 --- a/workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml +++ b/workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml @@ -126,7 +126,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part0.yaml b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part0.yaml index c7d9027..d4ebddf 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part0.yaml @@ -137,8 +137,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -149,7 +147,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part1.yaml b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part1.yaml index 8fcc781..795fe7f 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part1.yaml @@ -137,8 +137,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -149,7 +147,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part2.yaml b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part2.yaml index f83bc6a..ab40082 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part2.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part2.yaml @@ -137,8 +137,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -149,7 +147,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part3.yaml b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part3.yaml index 58b0fb7..9ffde4c 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part3.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part3.yaml @@ -137,8 +137,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -149,7 +147,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml b/workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml index 8d9364a..5562432 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml @@ -153,7 +153,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint @@ -223,7 +222,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint @@ -293,7 +291,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint @@ -349,24 +346,11 @@ tasks: type: point2point_constraint name: fingers_contact_with_link0 - # ensure surface of the gripper to be parallel to the box lid - # - axis_from_keypoint_name: tool_head - # axis_to_keypoint_name: tool_side - # cross_target_axis1_from_keypoint_name: articulated_object_head - # cross_target_axis1_to_keypoint_name: articulated_object_tail - # target_axis: link0_contact_axis - # target_axis_frame: object - # tolerance: 0.1 - # target_inner_product: -1 - # type: frame_axis_parallel - # name: hand_parallel_to_link0_edge_door - - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.05 target_inner_product: 1.0 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml b/workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml index 19d4bb8..572ac1e 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml @@ -159,8 +159,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -171,7 +169,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint @@ -263,8 +260,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -275,7 +270,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_left_im.yaml b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_left_im.yaml index 789e06e..da81e87 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_left_im.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_left_im.yaml @@ -156,7 +156,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -167,7 +166,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part0.yaml b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part0.yaml index dfaf555..d329e41 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part0.yaml @@ -136,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -147,7 +146,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part1.yaml b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part1.yaml index 9488d04..b1cf67a 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part1.yaml @@ -136,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -147,7 +146,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part2.yaml b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part2.yaml index 470a289..783ca65 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part2.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part2.yaml @@ -136,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -147,7 +146,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part3.yaml b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part3.yaml index 8040a0f..f2a4080 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part3.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part3.yaml @@ -136,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -147,7 +146,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml index 13c05d5..62d77ba 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml index b5fd8f8..bea00d3 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml index a1da9f0..5acbf7d 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml index dd8d2c1..f7f25e7 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml index b24e70f..f796e90 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml index 3df916d..4c0de12 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml index a9c56dd..adcf3f5 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml @@ -127,7 +127,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml index 2d3f53d..bc5ed84 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml @@ -127,7 +127,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml index e39dff9..87d2a9f 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml @@ -127,7 +127,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml index 1945980..0bf5329 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml @@ -127,7 +127,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml index 749ace3..34b5587 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml @@ -127,7 +127,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml index 97a1c96..9c194ca 100644 --- a/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml @@ -127,7 +127,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -136,7 +135,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/left/close_the_microwave_part0.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/left/close_the_microwave_part0.yaml index 65be099..a6b2aad 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/left/close_the_microwave_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/left/close_the_microwave_part0.yaml @@ -131,8 +131,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -143,7 +141,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/right/close_the_microwave_part1.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/right/close_the_microwave_part1.yaml index 8129b26..cd807dc 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/right/close_the_microwave_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/right/close_the_microwave_part1.yaml @@ -131,8 +131,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.005 target_inner_product: -1 type: frame_axis_parallel @@ -143,7 +141,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.005 target_inner_product: 0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/left/close_the_oven_part0.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/left/close_the_oven_part0.yaml index 0aa3705..f510dcc 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/left/close_the_oven_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/left/close_the_oven_part0.yaml @@ -143,7 +143,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.5 # 0.05 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/right/close_the_oven_part1.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/right/close_the_oven_part1.yaml index 8c764d1..c52f4ff 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/right/close_the_oven_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/right/close_the_oven_part1.yaml @@ -143,7 +143,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.5 # 0.05 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/left/grasp_the_microwave_handle_part0.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/left/grasp_the_microwave_handle_part0.yaml index 42b9c72..8f09de2 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/left/grasp_the_microwave_handle_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/left/grasp_the_microwave_handle_part0.yaml @@ -146,7 +146,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.6 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/right/grasp_the_microwave_handle_part1.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/right/grasp_the_microwave_handle_part1.yaml index 33326f0..20bedb8 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/right/grasp_the_microwave_handle_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/right/grasp_the_microwave_handle_part1.yaml @@ -146,7 +146,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.6 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/left/open_the_microwave_part0.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/left/open_the_microwave_part0.yaml index b546b5c..3dccead 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/left/open_the_microwave_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/left/open_the_microwave_part0.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -141,7 +140,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/right/open_the_microwave_part1.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/right/open_the_microwave_part1.yaml index 34a4e7d..c065162 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/right/open_the_microwave_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/right/open_the_microwave_part1.yaml @@ -129,7 +129,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -140,7 +139,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml index 385686e..e791ddb 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml @@ -144,7 +144,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.5 target_inner_product: 0.7 type: frame_axis_parallel @@ -200,8 +199,6 @@ tasks: axis_to_keypoint_name: tool_side cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail - target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.0005 target_inner_product: -0.7 type: frame_axis_parallel # enforce parallelism via cross product constraint @@ -210,7 +207,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -0.7 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/left/open_the_oven_part0.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/left/open_the_oven_part0.yaml index c41cbca..08ed1e4 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/left/open_the_oven_part0.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/left/open_the_oven_part0.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: -1 type: frame_axis_parallel @@ -150,7 +149,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/right/open_the_oven_part1.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/right/open_the_oven_part1.yaml index 1cdfc58..4b83344 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/right/open_the_oven_part1.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/right/open_the_oven_part1.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: link0_contact_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel @@ -150,7 +149,6 @@ tasks: cross_target_axis1_from_keypoint_name: articulated_object_head cross_target_axis1_to_keypoint_name: articulated_object_tail target_axis: link0_contact_axis - target_axis_frame: object # cross_target_axis2_frame tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel # enforce parallelism via cross product constraint diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml index 565df26..31dd7bf 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml index 3018076..432c344 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml index 07c0cb2..f43f76f 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml index e04b546..cb61c53 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml index a37186a..9629a95 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml index 65e51d8..fbda686 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml @@ -128,7 +128,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -137,7 +136,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_tail target_axis: object_link0_vertical_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml index 7e48ddb..1290ddd 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -139,7 +138,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml index d8fe4b3..cf4ef67 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -139,7 +138,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml index 5c7e4af..f4479b0 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -139,7 +138,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml index f7cc842..c367db5 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -139,7 +138,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml index 271c653..642ae37 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -139,7 +138,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel diff --git a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml index 51ce2ed..93f4237 100644 --- a/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml +++ b/workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml @@ -130,7 +130,6 @@ tasks: - axis_from_keypoint_name: tool_head axis_to_keypoint_name: tool_side target_axis: object_link0_contact_axis - target_axis_frame: object tolerance: 0.0005 target_inner_product: -1 type: frame_axis_parallel @@ -139,7 +138,6 @@ tasks: - axis_from_keypoint_name: tool_tail axis_to_keypoint_name: tool_head target_axis: object_link0_move_axis - target_axis_frame: object tolerance: 0.3 target_inner_product: 1 type: frame_axis_parallel