pick_place tasks
This commit is contained in:
Leon998
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scripts/generate_pick_configs.py
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227
scripts/generate_pick_configs.py
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#!/usr/bin/env python3
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"""
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Batch generate YAML config files for pick_and_place tasks.
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Replaces asset names and USD paths based on available assets.
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"""
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import os
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import shutil
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from pathlib import Path
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from typing import List, Dict, Optional
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# Configuration
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ASSETS_DIR = Path("workflows/simbox/assets/pick_and_place/pre-train-pick/assets")
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FUNCTIONAL_ASSETS_DIR = Path("workflows/simbox/assets/pick_and_place/functional-pick-assets")
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CONFIG_BASE_DIR = Path("workflows/simbox/core/configs/tasks/pick_and_place")
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# Exclude these asset folders from pre-train-pick
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EXCLUDE_ASSETS = ["google_scan-book", "google_scan-box", "omniobject3d-rubik_cube-old"]
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# Template configs: (robot, task_type, arm_side, template_path, template_asset_name, assets_dir_type)
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# task_type: "single_pick", "single_pnp", "single_func_pick", etc.
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# arm_side: "left", "right", or None (for single-arm robots like franka)
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# assets_dir_type: "pre-train" or "functional"
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TEMPLATE_CONFIGS = [
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# lift2 - single_pick (pre-train assets)
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("lift2", "single_pick", "left", "lift2/single_pick/left/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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("lift2", "single_pick", "right", "lift2/single_pick/right/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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# split_aloha - single_pick (pre-train assets)
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("split_aloha", "single_pick", "left", "split_aloha/single_pick/left/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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("split_aloha", "single_pick", "right", "split_aloha/single_pick/right/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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# franka - single_pick (pre-train assets, single arm, no left/right)
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("franka", "single_pick", None, "franka/single_pick/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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# genie1 - single_pick (pre-train assets)
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("genie1", "single_pick", "left", "genie1/single_pick/left/omniobject3d-lemon.yaml", "omniobject3d-lemon", "pre-train"),
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("genie1", "single_pick", "right", "genie1/single_pick/right/omniobject3d-lemon.yaml", "omniobject3d-lemon", "pre-train"),
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# genie1 - single_pnp (pre-train assets, pick and place)
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("genie1", "single_pnp", "left", "genie1/single_pnp/left/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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("genie1", "single_pnp", "right", "genie1/single_pnp/right/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"),
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]
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# Functional pick template configs (uses functional-pick-assets)
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FUNCTIONAL_TEMPLATE_CONFIGS = [
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# genie1 - single_func_pick (functional assets)
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("genie1", "single_func_pick", "left", "genie1/single_func_pick/left/omniobject3d-hammer.yaml", "omniobject3d-hammer", "functional"),
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("genie1", "single_func_pick", "right", "genie1/single_func_pick/right/omniobject3d-hammer.yaml", "omniobject3d-hammer", "functional"),
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]
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def get_all_assets(assets_dir: Path, exclude: List[str] = None) -> List[str]:
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"""Get all asset folder names, excluding specified ones."""
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if exclude is None:
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exclude = []
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assets = []
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for item in sorted(assets_dir.iterdir()):
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if item.is_dir() and item.name not in exclude:
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assets.append(item.name)
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return assets
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def get_first_usd_path(assets_dir: Path, asset_name: str, assets_dir_type: str = "pre-train") -> Optional[str]:
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"""Get the first USD file path for an asset."""
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asset_folder = assets_dir / asset_name
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if not asset_folder.exists():
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return None
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# Get all subfolders
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subfolders = sorted([f for f in asset_folder.iterdir() if f.is_dir()])
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if not subfolders:
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return None
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# Find the first subfolder with Aligned_obj.usd
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for subfolder in subfolders:
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usd_file = subfolder / "Aligned_obj.usd"
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if usd_file.exists():
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if assets_dir_type == "functional":
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return f"pick_and_place/functional-pick-assets/{asset_name}/{subfolder.name}/Aligned_obj.usd"
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else:
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return f"pick_and_place/pre-train-pick/assets/{asset_name}/{subfolder.name}/Aligned_obj.usd"
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return None
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def replace_in_yaml(content: str, old_asset: str, new_asset: str, new_usd_path: str) -> str:
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"""Replace asset name and USD path in YAML content.
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Note: Does NOT modify distractors section - it should remain unchanged.
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Only replaces paths that end with .usd (object paths, not directory paths).
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"""
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lines = content.split('\n')
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new_lines = []
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for line in lines:
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# Replace path line ONLY if it's a USD file path (ends with .usd)
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# This distinguishes object paths from distractor directory paths
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# Support both pre-train-pick/assets and functional-pick-assets
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if "path:" in line and "pick_and_place/" in line and ".usd" in line:
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# Replace the USD path
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indent = len(line) - len(line.lstrip())
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new_lines.append(" " * indent + f"path: {new_usd_path}")
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elif "category:" in line and old_asset in line:
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# Replace category
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indent = len(line) - len(line.lstrip())
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new_lines.append(" " * indent + f'category: "{new_asset}"')
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elif "task_dir:" in line and old_asset in line:
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# Replace task_dir
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indent = len(line) - len(line.lstrip())
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# Extract the directory structure before the asset name
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old_task_dir = line.split('"')[1]
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new_task_dir = old_task_dir.replace(old_asset, new_asset)
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new_lines.append(" " * indent + f'task_dir: "{new_task_dir}"')
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else:
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new_lines.append(line)
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return '\n'.join(new_lines)
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def generate_configs(
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assets: List[str],
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template_configs: List[tuple],
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config_base_dir: Path,
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assets_dir: Path,
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dry_run: bool = True
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):
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"""Generate YAML config files for all assets."""
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for robot, task_type, arm_side, template_rel_path, template_asset_name, assets_dir_type in template_configs:
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template_path = config_base_dir / template_rel_path
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if not template_path.exists():
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print(f"[WARNING] Template not found: {template_path}")
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continue
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# Read template content
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with open(template_path, 'r') as f:
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template_content = f.read()
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# Determine output directory based on task_type and arm_side
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if arm_side is None:
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# Single-arm robot (like franka)
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output_dir = config_base_dir / robot / task_type
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else:
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# Dual-arm robot with left/right
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output_dir = config_base_dir / robot / task_type / arm_side
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output_dir.mkdir(parents=True, exist_ok=True)
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for asset_name in assets:
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# Get USD path for this asset
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usd_path = get_first_usd_path(assets_dir, asset_name, assets_dir_type)
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if usd_path is None:
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print(f"[SKIP] No USD found for {asset_name}")
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continue
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# Generate new content
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new_content = replace_in_yaml(
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template_content,
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template_asset_name,
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asset_name,
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usd_path
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)
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# Output file path
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output_file = output_dir / f"{asset_name}.yaml"
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if dry_run:
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print(f"[DRY-RUN] Would create: {output_file}")
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print(f" USD path: {usd_path}")
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else:
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with open(output_file, 'w') as f:
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f.write(new_content)
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print(f"[CREATED] {output_file}")
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def main():
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import argparse
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parser = argparse.ArgumentParser(description="Batch generate YAML config files")
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parser.add_argument("--dry-run", action="store_true", help="Show what would be done without creating files")
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parser.add_argument("--assets", nargs="+", help="Specific assets to process (default: all)")
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parser.add_argument("--robots", nargs="+", help="Specific robots to process (default: all)")
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parser.add_argument("--task-types", nargs="+", help="Specific task types to process (default: all)")
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parser.add_argument("--functional", action="store_true", help="Generate configs for functional pick assets")
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args = parser.parse_args()
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# Change to repo root
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script_dir = Path(__file__).parent
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os.chdir(script_dir.parent)
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# Select template configs based on --functional flag
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if args.functional:
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template_configs = FUNCTIONAL_TEMPLATE_CONFIGS
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assets_dir = FUNCTIONAL_ASSETS_DIR
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exclude = [] # Don't exclude anything for functional assets
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else:
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template_configs = TEMPLATE_CONFIGS
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assets_dir = ASSETS_DIR
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exclude = EXCLUDE_ASSETS
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# Get assets
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if args.assets:
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assets = args.assets
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else:
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assets = get_all_assets(assets_dir, exclude)
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# Filter templates by robots and task_types if specified
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if args.robots:
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template_configs = [t for t in template_configs if t[0] in args.robots]
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if args.task_types:
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template_configs = [t for t in template_configs if t[1] in args.task_types]
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print(f"Assets directory: {assets_dir}")
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print(f"Found {len(assets)} assets to process")
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print(f"Assets: {assets[:5]}..." if len(assets) > 5 else f"Assets: {assets}")
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print(f"Templates: {[(t[0], t[1], t[2]) for t in template_configs]}")
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print(f"Dry run: {args.dry_run}")
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print("-" * 50)
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generate_configs(
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assets=assets,
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template_configs=template_configs,
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config_base_dir=CONFIG_BASE_DIR,
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assets_dir=assets_dir,
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dry_run=args.dry_run
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)
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if __name__ == "__main__":
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main()
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tasks:
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-
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name: banana_base_task # task name
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asset_root: workflows/simbox/assets
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task: BananaBaseTask # !! where you specify TASK class
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task_id: 0
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offset: null
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render: True
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# Arena configuration
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arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
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# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
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neglect_collision_names: ["table"]
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env_map:
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envmap_lib: envmap_lib
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apply_randomization: True
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intensity_range: [4000, 7000]
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rotation_range: [0, 180]
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robots:
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-
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name: "franka"
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robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
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euler: [0.0, 0.0, 90.0]
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left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
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left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
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# constrain_grasp_approach: True
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objects:
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-
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name: pick_object_left
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path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd
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target_class: RigidObject
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dataset: oo3d
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category: "google_scan-handbag"
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prim_path_child: Aligned
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translation: [0.0, 0.0, 0.0]
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euler: [0.0, 0.0, 0.0] # stable init pose
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scale: [0.001, 0.001, 0.001]
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apply_randomization: True
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orientation_mode: "suggested"
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regions:
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-
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object: pick_object_left
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target: table
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random_type: A_on_B_region_sampler
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random_config:
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pos_range: [
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[-0.3, -0.15, 0.0],
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[0.3, 0.15, 0.0]
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]
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yaw_rotation: [-180.0, 180.0]
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-
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object: ${tasks.0.robots.0.name}
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target: table
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random_type: A_on_B_region_sampler
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random_config:
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pos_range: [
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[0.0, -0.495, 0.0],
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[0.0, -0.445, 0.05]
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]
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yaw_rotation: [0.0, 0.0]
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distractors:
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path: pick_and_place/pre-train-pick/assets
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min_num: 5
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max_num: 10
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scale: [0.001, 0.001, 0.001]
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target: table
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pos_range: [
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[-0.6, -0.35],
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[0.60, 0.35]
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]
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min_object_distance: 0.03
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exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
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cameras:
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-
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name: ${tasks.0.robots.0.name}_hand
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translation: [0.085, 0.0, -0.02]
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orientation: [0.153, 0.690, 0.690, 0.153]
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camera_axes: usd
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camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
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parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
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apply_randomization: True
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max_translation_noise: 0.03
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max_orientation_noise: 5.0
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-
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name: ${tasks.0.robots.0.name}_head
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translation: [0.0, 0.65, 1.24]
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orientation: [0.000, 0.000, -0.466, -0.885]
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camera_axes: usd
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camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
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parent: "" # todo: robot base frame
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apply_randomization: True
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max_translation_noise: 0.06
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max_orientation_noise: 10.0
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data:
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task_dir: "single_pick/google_scan-handbag"
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language_instruction: "Pick up the ${tasks.0.objects.0.name}."
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detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
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collect_info: ""
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version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
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update: True
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max_episode_length: 500
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skills:
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-
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franka:
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-
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left:
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-
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name: pick
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objects: [pick_object_left]
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filter_x_dir: ["forward", 90]
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filter_z_dir: ["downward", 140]
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pre_grasp_offset: 0.05
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gripper_change_steps: 10
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t_eps: 0.01
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o_eps: 1
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process_valid: True
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lift_th: 0.02
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post_grasp_offset_min: 0.05
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post_grasp_offset_max: 0.20
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test_mode: ik
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@@ -0,0 +1,132 @@
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tasks:
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-
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name: banana_base_task # task name
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asset_root: workflows/simbox/assets
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task: BananaBaseTask # !! where you specify TASK class
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task_id: 0
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offset: null
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render: True
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# Arena configuration
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arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
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# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
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neglect_collision_names: ["table"]
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env_map:
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envmap_lib: envmap_lib
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apply_randomization: True
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intensity_range: [4000, 7000]
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rotation_range: [0, 180]
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robots:
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-
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name: "franka"
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robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
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euler: [0.0, 0.0, 90.0]
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left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
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left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
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# constrain_grasp_approach: True
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objects:
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-
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name: pick_object_left
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path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd
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target_class: RigidObject
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dataset: oo3d
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category: "google_scan-hat"
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prim_path_child: Aligned
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translation: [0.0, 0.0, 0.0]
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euler: [0.0, 0.0, 0.0] # stable init pose
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scale: [0.001, 0.001, 0.001]
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apply_randomization: True
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orientation_mode: "suggested"
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regions:
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-
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object: pick_object_left
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target: table
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random_type: A_on_B_region_sampler
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random_config:
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pos_range: [
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[-0.3, -0.15, 0.0],
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[0.3, 0.15, 0.0]
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]
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yaw_rotation: [-180.0, 180.0]
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-
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object: ${tasks.0.robots.0.name}
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target: table
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random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/google_scan-hat"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-asparagus/omniobject3d-asparagus_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-asparagus"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-asparagus"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-ball/omniobject3d-ball_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-ball"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-ball"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-bamboo_shoots/omniobject3d-bamboo_shoots_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-bamboo_shoots"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-bamboo_shoots"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -33,7 +33,7 @@ tasks:
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: "pick_and_place/pre-train-pick/assets/omniobject3d-banana/omniobject3d-banana_001/Aligned_obj.usd"
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-banana/omniobject3d-banana_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-banana"
|
||||
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-battery/omniobject3d-battery_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-battery"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-battery"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-belt/omniobject3d-belt_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-belt"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-belt"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-bottle/google_scan-bottle_0011/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-bottle"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-bottle"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-bowl/omniobject3d-bowl_002/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-bowl"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-bowl"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-box/omniobject3d-box_045/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-box"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-box"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-boxed_beverage/omniobject3d-boxed_beverage_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-boxed_beverage"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-boxed_beverage"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-bread/omniobject3d-bread_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-bread"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-bread"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-brush/omniobject3d-brush_003/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-brush"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-brush"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-cake/omniobject3d-cake_003/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-cake"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-cake"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-calculator/omniobject3d-calculator_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-calculator"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-calculator"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-candle/omniobject3d-candle_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-candle"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-candle"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-carrot/omniobject3d-carrot_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-carrot"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-carrot"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-chess/omniobject3d-chess_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-chess"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-chess"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-chicken_leg/omniobject3d-chicken_leg_002/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-chicken_leg"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-chicken_leg"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-chili/omniobject3d-chili_003/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-chili"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-chili"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-chinese_chess/omniobject3d-chinese_chess_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-chinese_chess"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-chinese_chess"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-clock/google_scan-clock_0173/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-clock"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-clock"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-conch/omniobject3d-conch_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-conch"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-conch"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-corn/omniobject3d-corn_003/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-corn"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-corn"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-cucumber/omniobject3d-cucumber_008/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-cucumber"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-cucumber"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-cup/omniobject3d-cup_002/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-cup"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-cup"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-dinosaur/google_scan-dinosaur_0193/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-dinosaur"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-dinosaur"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-dish/omniobject3d-dish_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-dish"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-dish"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-donut/omniobject3d-donut_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-donut"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-donut"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-dumpling/omniobject3d-dumpling_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-dumpling"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-dumpling"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-egg/omniobject3d-egg_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-egg"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-egg"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-egg_tart/omniobject3d-egg_tart_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-egg_tart"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-egg_tart"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-eraser/omniobject3d-eraser_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-eraser"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-eraser"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-facial_cream/omniobject3d-facial_cream_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-facial_cream"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-facial_cream"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-flash_light/omniobject3d-flash_light_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-flash_light"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-flash_light"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-garage_kit/google_scan-garage_kit_0021/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-garage_kit"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-garage_kit"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-garlic/omniobject3d-garlic_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-garlic"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-garlic"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-glasses/omniobject3d-glasses_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-glasses"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-glasses"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-glasses_case/omniobject3d-glasses_case_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-glasses_case"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-glasses_case"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-hair_dryer/google_scan-hair_dryer_0496/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-hair_dryer"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-hair_dryer"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-hamburger/omniobject3d-hamburger_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-hamburger"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-hamburger"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-hammer/google_scan-hammer_0861/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-hammer"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-hammer"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-hand_cream/google_scan-hand_cream_0044/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-hand_cream"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-hand_cream"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-hot_dog/omniobject3d-hot_dog_012/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-hot_dog"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-hot_dog"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-knife/omniobject3d-knife_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-knife"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-knife"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-lemon/omniobject3d-lemon_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-lemon"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-lemon"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-lipstick/omniobject3d-lipstick_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-lipstick"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-lipstick"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-lotus_root/omniobject3d-lotus_root_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-lotus_root"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-lotus_root"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-mango/omniobject3d-mango_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-mango"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-mango"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-mangosteen/omniobject3d-mangosteen_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-mangosteen"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-mangosteen"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-medicine_bottle/google_scan-medicine_bottle_0104/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-medicine_bottle"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-medicine_bottle"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-mooncake/omniobject3d-mooncake_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-mooncake"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-mooncake"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-mouse/omniobject3d-mouse_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-mouse"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-mouse"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-mug/google_scan-mug_0160/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-mug"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-mug"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-onion/omniobject3d-onion_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-onion"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-onion"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-orange/omniobject3d-orange_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-orange"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-orange"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-pastry/omniobject3d-pastry_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-pastry"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-pastry"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-peach/omniobject3d-peach_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-peach"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-peach"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-pear/omniobject3d-pear_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-pear"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-pear"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-pen/omniobject3d-pen_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-pen"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-pen"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-pineapple/omniobject3d-pineapple_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-pineapple"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-pineapple"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-pitaya/omniobject3d-pitaya_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-pitaya"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-pitaya"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-pomegranate/omniobject3d-pomegranate_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-pomegranate"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-pomegranate"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-power_strip/omniobject3d-power_strip_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-power_strip"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-power_strip"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-razor/omniobject3d-razor_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-razor"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-razor"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-red_wine_glass/omniobject3d-red_wine_glass_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-red_wine_glass"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-red_wine_glass"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-remote_control/omniobject3d-remote_control_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-remote_control"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-remote_control"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-rubik_cube/omniobject3d-rubik_cube_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-rubik_cube"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-rubik_cube"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-sausage/omniobject3d-sausage_010/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-sausage"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-sausage"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-scissor/omniobject3d-scissor_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-scissor"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-scissor"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-shampoo/omniobject3d-shampoo_003/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-shampoo"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-shampoo"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-shoe/google_scan-shoe_0004/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-shoe"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-shoe"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-shrimp/omniobject3d-shrimp_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-shrimp"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-shrimp"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-soap/omniobject3d-soap_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-soap"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-soap"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-spanner/omniobject3d-spanner_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-spanner"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-spanner"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-starfish/omniobject3d-starfish_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-starfish"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-starfish"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-sweet_potato/omniobject3d-sweet_potato_002/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-sweet_potato"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-sweet_potato"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-table_tennis_bat/omniobject3d-table_tennis_bat_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-table_tennis_bat"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-table_tennis_bat"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-tape_measure/omniobject3d-tape_measure_005/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-tape_measure"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-tape_measure"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-teapot/omniobject3d-teapot_018/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-teapot"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-teapot"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-timer/omniobject3d-timer_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-timer"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-timer"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-tissue/omniobject3d-tissue_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-tissue"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-tissue"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-tomato/omniobject3d-tomato_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-tomato"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-tomato"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-tooth_brush/omniobject3d-tooth_brush_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-tooth_brush"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-tooth_brush"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-tooth_paste/omniobject3d-tooth_paste_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-tooth_paste"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-tooth_paste"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_animals/google_scan-teddy_bear_0013/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_animals"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_animals"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_boat/google_scan-toy_boat_0524/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_boat"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_boat"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_bus/google_scan-toy_bus_0267/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_bus"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_bus"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_car/google_scan-toy_car_0180/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_car"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_car"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_motorcycle/omniobject3d-toy_motorcycle_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_motorcycle"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_motorcycle"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_plane/google_scan-toy_plane_0068/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_plane"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_plane"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_plant/google_scan-toy_plant_0393/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_plant"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_plant"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_train/google_scan-toy_train_0031/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_train"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_train"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-toy_truck/google_scan-toy_truck_0728/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-toy_truck"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-toy_truck"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-umbrella/omniobject3d-umbrella_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-umbrella"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-umbrella"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-waffle/omniobject3d-waffle_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-waffle"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-waffle"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-watch/omniobject3d-watch_001/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-watch"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-watch"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
@@ -0,0 +1,132 @@
|
||||
tasks:
|
||||
-
|
||||
name: banana_base_task # task name
|
||||
asset_root: workflows/simbox/assets
|
||||
task: BananaBaseTask # !! where you specify TASK class
|
||||
task_id: 0
|
||||
|
||||
offset: null
|
||||
render: True
|
||||
|
||||
|
||||
# Arena configuration
|
||||
arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
|
||||
# arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
|
||||
|
||||
neglect_collision_names: ["table"]
|
||||
|
||||
env_map:
|
||||
envmap_lib: envmap_lib
|
||||
apply_randomization: True
|
||||
intensity_range: [4000, 7000]
|
||||
rotation_range: [0, 180]
|
||||
|
||||
robots:
|
||||
-
|
||||
name: "franka"
|
||||
robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
|
||||
euler: [0.0, 0.0, 90.0]
|
||||
left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0, 2.235, 0.789]
|
||||
left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
|
||||
# constrain_grasp_approach: True
|
||||
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: pick_and_place/pre-train-pick/assets/omniobject3d-whistle/omniobject3d-whistle_002/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: "omniobject3d-whistle"
|
||||
prim_path_child: Aligned
|
||||
translation: [0.0, 0.0, 0.0]
|
||||
euler: [0.0, 0.0, 0.0] # stable init pose
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
apply_randomization: True
|
||||
orientation_mode: "suggested"
|
||||
|
||||
regions:
|
||||
-
|
||||
object: pick_object_left
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[-0.3, -0.15, 0.0],
|
||||
[0.3, 0.15, 0.0]
|
||||
]
|
||||
yaw_rotation: [-180.0, 180.0]
|
||||
-
|
||||
object: ${tasks.0.robots.0.name}
|
||||
target: table
|
||||
random_type: A_on_B_region_sampler
|
||||
random_config:
|
||||
pos_range: [
|
||||
[0.0, -0.495, 0.0],
|
||||
[0.0, -0.445, 0.05]
|
||||
]
|
||||
yaw_rotation: [0.0, 0.0]
|
||||
|
||||
distractors:
|
||||
path: pick_and_place/pre-train-pick/assets
|
||||
min_num: 5
|
||||
max_num: 10
|
||||
scale: [0.001, 0.001, 0.001]
|
||||
target: table
|
||||
pos_range: [
|
||||
[-0.6, -0.35],
|
||||
[0.60, 0.35]
|
||||
]
|
||||
min_object_distance: 0.03
|
||||
exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"]
|
||||
|
||||
|
||||
cameras:
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_hand
|
||||
translation: [0.085, 0.0, -0.02]
|
||||
orientation: [0.153, 0.690, 0.690, 0.153]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
|
||||
parent: "${tasks.0.robots.0.name}/fr3/panda_hand" # todo
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.03
|
||||
max_orientation_noise: 5.0
|
||||
-
|
||||
name: ${tasks.0.robots.0.name}_head
|
||||
translation: [0.0, 0.65, 1.24]
|
||||
orientation: [0.000, 0.000, -0.466, -0.885]
|
||||
camera_axes: usd
|
||||
camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
|
||||
parent: "" # todo: robot base frame
|
||||
apply_randomization: True
|
||||
max_translation_noise: 0.06
|
||||
max_orientation_noise: 10.0
|
||||
|
||||
data:
|
||||
task_dir: "single_pick/omniobject3d-whistle"
|
||||
language_instruction: "Pick up the ${tasks.0.objects.0.name}."
|
||||
detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} and lift."
|
||||
collect_info: ""
|
||||
version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
|
||||
update: True
|
||||
max_episode_length: 500
|
||||
|
||||
skills:
|
||||
-
|
||||
franka:
|
||||
-
|
||||
left:
|
||||
-
|
||||
name: pick
|
||||
objects: [pick_object_left]
|
||||
filter_x_dir: ["forward", 90]
|
||||
filter_z_dir: ["downward", 140]
|
||||
pre_grasp_offset: 0.05
|
||||
gripper_change_steps: 10
|
||||
t_eps: 0.01
|
||||
o_eps: 1
|
||||
process_valid: True
|
||||
lift_th: 0.02
|
||||
post_grasp_offset_min: 0.05
|
||||
post_grasp_offset_max: 0.20
|
||||
test_mode: ik
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user