From d71947a010cd26570b6386b7db874bdaffa99e8d Mon Sep 17 00:00:00 2001 From: Leon998 <1158046368@qq.com> Date: Wed, 18 Mar 2026 00:35:19 +0800 Subject: [PATCH] pick_place tasks --- scripts/generate_pick_configs.py | 227 ++++++++++++++++++ .../single_pick/google_scan-handbag.yaml | 132 ++++++++++ .../franka/single_pick/google_scan-hat.yaml | 132 ++++++++++ .../single_pick/omniobject3d-asparagus.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-ball.yaml | 132 ++++++++++ .../omniobject3d-bamboo_shoots.yaml | 132 ++++++++++ .../single_pick/omniobject3d-banana.yaml | 2 +- .../single_pick/omniobject3d-battery.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-belt.yaml | 132 ++++++++++ .../single_pick/omniobject3d-bottle.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-bowl.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-box.yaml | 132 ++++++++++ .../omniobject3d-boxed_beverage.yaml | 132 ++++++++++ .../single_pick/omniobject3d-bread.yaml | 132 ++++++++++ .../single_pick/omniobject3d-brush.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-cake.yaml | 132 ++++++++++ .../single_pick/omniobject3d-calculator.yaml | 132 ++++++++++ .../single_pick/omniobject3d-candle.yaml | 132 ++++++++++ .../single_pick/omniobject3d-carrot.yaml | 132 ++++++++++ .../single_pick/omniobject3d-chess.yaml | 132 ++++++++++ .../single_pick/omniobject3d-chicken_leg.yaml | 132 ++++++++++ .../single_pick/omniobject3d-chili.yaml | 132 ++++++++++ .../omniobject3d-chinese_chess.yaml | 132 ++++++++++ .../single_pick/omniobject3d-clock.yaml | 132 ++++++++++ .../single_pick/omniobject3d-conch.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-corn.yaml | 132 ++++++++++ .../single_pick/omniobject3d-cucumber.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-cup.yaml | 132 ++++++++++ .../single_pick/omniobject3d-dinosaur.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-dish.yaml | 132 ++++++++++ .../single_pick/omniobject3d-donut.yaml | 132 ++++++++++ .../single_pick/omniobject3d-dumpling.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-egg.yaml | 132 ++++++++++ .../single_pick/omniobject3d-egg_tart.yaml | 132 ++++++++++ .../single_pick/omniobject3d-eraser.yaml | 132 ++++++++++ .../omniobject3d-facial_cream.yaml | 132 ++++++++++ .../single_pick/omniobject3d-flash_light.yaml | 132 ++++++++++ .../single_pick/omniobject3d-garage_kit.yaml | 132 ++++++++++ .../single_pick/omniobject3d-garlic.yaml | 132 ++++++++++ .../single_pick/omniobject3d-glasses.yaml | 132 ++++++++++ .../omniobject3d-glasses_case.yaml | 132 ++++++++++ .../single_pick/omniobject3d-hair_dryer.yaml | 132 ++++++++++ .../single_pick/omniobject3d-hamburger.yaml | 132 ++++++++++ .../single_pick/omniobject3d-hammer.yaml | 132 ++++++++++ .../single_pick/omniobject3d-hand_cream.yaml | 132 ++++++++++ .../single_pick/omniobject3d-hot_dog.yaml | 132 ++++++++++ .../single_pick/omniobject3d-knife.yaml | 132 ++++++++++ .../single_pick/omniobject3d-lemon.yaml | 132 ++++++++++ .../single_pick/omniobject3d-lipstick.yaml | 132 ++++++++++ .../single_pick/omniobject3d-lotus_root.yaml | 132 ++++++++++ .../single_pick/omniobject3d-mango.yaml | 132 ++++++++++ .../single_pick/omniobject3d-mangosteen.yaml | 132 ++++++++++ .../omniobject3d-medicine_bottle.yaml | 132 ++++++++++ .../single_pick/omniobject3d-mooncake.yaml | 132 ++++++++++ .../single_pick/omniobject3d-mouse.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-mug.yaml | 132 ++++++++++ .../single_pick/omniobject3d-onion.yaml | 132 ++++++++++ .../single_pick/omniobject3d-orange.yaml | 132 ++++++++++ .../single_pick/omniobject3d-pastry.yaml | 132 ++++++++++ .../single_pick/omniobject3d-peach.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-pear.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-pen.yaml | 132 ++++++++++ .../single_pick/omniobject3d-pineapple.yaml | 132 ++++++++++ .../single_pick/omniobject3d-pitaya.yaml | 132 ++++++++++ .../single_pick/omniobject3d-pomegranate.yaml | 132 ++++++++++ .../single_pick/omniobject3d-power_strip.yaml | 132 ++++++++++ .../single_pick/omniobject3d-razor.yaml | 132 ++++++++++ .../omniobject3d-red_wine_glass.yaml | 132 ++++++++++ .../omniobject3d-remote_control.yaml | 132 ++++++++++ .../single_pick/omniobject3d-rubik_cube.yaml | 132 ++++++++++ .../single_pick/omniobject3d-sausage.yaml | 132 ++++++++++ .../single_pick/omniobject3d-scissor.yaml | 132 ++++++++++ .../single_pick/omniobject3d-shampoo.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-shoe.yaml | 132 ++++++++++ .../single_pick/omniobject3d-shrimp.yaml | 132 ++++++++++ .../franka/single_pick/omniobject3d-soap.yaml | 132 ++++++++++ .../single_pick/omniobject3d-spanner.yaml | 132 ++++++++++ .../single_pick/omniobject3d-starfish.yaml | 132 ++++++++++ .../omniobject3d-sweet_potato.yaml | 132 ++++++++++ .../omniobject3d-table_tennis_bat.yaml | 132 ++++++++++ .../omniobject3d-tape_measure.yaml | 132 ++++++++++ .../single_pick/omniobject3d-teapot.yaml | 132 ++++++++++ .../single_pick/omniobject3d-timer.yaml | 132 ++++++++++ .../single_pick/omniobject3d-tissue.yaml | 132 ++++++++++ .../single_pick/omniobject3d-tomato.yaml | 132 ++++++++++ .../single_pick/omniobject3d-tooth_brush.yaml | 132 ++++++++++ .../single_pick/omniobject3d-tooth_paste.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_animals.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_boat.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_bus.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_car.yaml | 132 ++++++++++ .../omniobject3d-toy_motorcycle.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_plane.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_plant.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_train.yaml | 132 ++++++++++ .../single_pick/omniobject3d-toy_truck.yaml | 132 ++++++++++ .../single_pick/omniobject3d-umbrella.yaml | 132 ++++++++++ .../single_pick/omniobject3d-waffle.yaml | 132 ++++++++++ .../single_pick/omniobject3d-watch.yaml | 132 ++++++++++ .../single_pick/omniobject3d-whistle.yaml | 132 ++++++++++ .../franka/single_pick/phocal-can.yaml | 132 ++++++++++ .../single_pick/phocal-red_wine_glass.yaml | 132 ++++++++++ .../franka/single_pick/phocal-spoon.yaml | 132 ++++++++++ .../franka/single_pick/real-camera.yaml | 132 ++++++++++ .../left/omniobject3d-brush.yaml | 139 +++++++++++ .../left/omniobject3d-hair_dryer.yaml | 139 +++++++++++ .../left/omniobject3d-hammer.yaml | 2 +- .../left/phocal-red_wine_glass.yaml | 139 +++++++++++ .../genie1/single_func_pick/left/teapot.yaml | 139 +++++++++++ .../right/omniobject3d-brush.yaml | 139 +++++++++++ .../right/omniobject3d-hair_dryer.yaml | 139 +++++++++++ .../right/omniobject3d-hammer.yaml | 2 +- .../right/phocal-red_wine_glass.yaml | 139 +++++++++++ .../genie1/single_func_pick/right/teapot.yaml | 139 +++++++++++ .../single_pick/left/google_scan-handbag.yaml | 140 +++++++++++ .../single_pick/left/google_scan-hat.yaml | 140 +++++++++++ .../left/omniobject3d-asparagus.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-ball.yaml | 140 +++++++++++ .../left/omniobject3d-bamboo_shoots.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-banana.yaml | 140 +++++++++++ .../left/omniobject3d-battery.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-belt.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-bottle.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-bowl.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-box.yaml | 140 +++++++++++ .../left/omniobject3d-boxed_beverage.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-bread.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-brush.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-cake.yaml | 140 +++++++++++ .../left/omniobject3d-calculator.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-candle.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-carrot.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-chess.yaml | 140 +++++++++++ .../left/omniobject3d-chicken_leg.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-chili.yaml | 140 +++++++++++ .../left/omniobject3d-chinese_chess.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-clock.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-conch.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-corn.yaml | 140 +++++++++++ .../left/omniobject3d-cucumber.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-cup.yaml | 140 +++++++++++ .../left/omniobject3d-dinosaur.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-dish.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-donut.yaml | 140 +++++++++++ .../left/omniobject3d-dumpling.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-egg.yaml | 140 +++++++++++ .../left/omniobject3d-egg_tart.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-eraser.yaml | 140 +++++++++++ .../left/omniobject3d-facial_cream.yaml | 140 +++++++++++ .../left/omniobject3d-flash_light.yaml | 140 +++++++++++ .../left/omniobject3d-garage_kit.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-garlic.yaml | 140 +++++++++++ .../left/omniobject3d-glasses.yaml | 140 +++++++++++ .../left/omniobject3d-glasses_case.yaml | 140 +++++++++++ .../left/omniobject3d-hair_dryer.yaml | 140 +++++++++++ .../left/omniobject3d-hamburger.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-hammer.yaml | 140 +++++++++++ .../left/omniobject3d-hand_cream.yaml | 140 +++++++++++ .../left/omniobject3d-hot_dog.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-knife.yaml | 140 +++++++++++ .../left/omniobject3d-lipstick.yaml | 140 +++++++++++ .../left/omniobject3d-lotus_root.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-mango.yaml | 140 +++++++++++ .../left/omniobject3d-mangosteen.yaml | 140 +++++++++++ .../left/omniobject3d-medicine_bottle.yaml | 140 +++++++++++ .../left/omniobject3d-mooncake.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-mouse.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-mug.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-onion.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-orange.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-pastry.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-peach.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-pear.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-pen.yaml | 140 +++++++++++ .../left/omniobject3d-pineapple.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-pitaya.yaml | 140 +++++++++++ .../left/omniobject3d-pomegranate.yaml | 140 +++++++++++ .../left/omniobject3d-power_strip.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-razor.yaml | 140 +++++++++++ .../left/omniobject3d-red_wine_glass.yaml | 140 +++++++++++ .../left/omniobject3d-remote_control.yaml | 140 +++++++++++ .../left/omniobject3d-rubik_cube.yaml | 140 +++++++++++ .../left/omniobject3d-sausage.yaml | 140 +++++++++++ .../left/omniobject3d-scissor.yaml | 140 +++++++++++ .../left/omniobject3d-shampoo.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-shoe.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-shrimp.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-soap.yaml | 140 +++++++++++ .../left/omniobject3d-spanner.yaml | 140 +++++++++++ .../left/omniobject3d-starfish.yaml | 140 +++++++++++ .../left/omniobject3d-sweet_potato.yaml | 140 +++++++++++ .../left/omniobject3d-table_tennis_bat.yaml | 140 +++++++++++ .../left/omniobject3d-tape_measure.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-teapot.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-timer.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-tissue.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-tomato.yaml | 140 +++++++++++ .../left/omniobject3d-tooth_brush.yaml | 140 +++++++++++ .../left/omniobject3d-tooth_paste.yaml | 140 +++++++++++ .../left/omniobject3d-toy_animals.yaml | 140 +++++++++++ .../left/omniobject3d-toy_boat.yaml | 140 +++++++++++ .../left/omniobject3d-toy_bus.yaml | 140 +++++++++++ .../left/omniobject3d-toy_car.yaml | 140 +++++++++++ .../left/omniobject3d-toy_motorcycle.yaml | 140 +++++++++++ .../left/omniobject3d-toy_plane.yaml | 140 +++++++++++ .../left/omniobject3d-toy_plant.yaml | 140 +++++++++++ .../left/omniobject3d-toy_train.yaml | 140 +++++++++++ .../left/omniobject3d-toy_truck.yaml | 140 +++++++++++ .../left/omniobject3d-umbrella.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-waffle.yaml | 140 +++++++++++ .../single_pick/left/omniobject3d-watch.yaml | 140 +++++++++++ .../left/omniobject3d-whistle.yaml | 140 +++++++++++ .../genie1/single_pick/left/phocal-can.yaml | 140 +++++++++++ .../left/phocal-red_wine_glass.yaml | 140 +++++++++++ .../genie1/single_pick/left/phocal-spoon.yaml | 140 +++++++++++ .../genie1/single_pick/left/real-camera.yaml | 140 +++++++++++ .../right/google_scan-handbag.yaml | 139 +++++++++++ .../single_pick/right/google_scan-hat.yaml | 139 +++++++++++ .../right/omniobject3d-asparagus.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-ball.yaml | 139 +++++++++++ .../right/omniobject3d-bamboo_shoots.yaml | 139 +++++++++++ .../right/omniobject3d-banana.yaml | 139 +++++++++++ .../right/omniobject3d-battery.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-belt.yaml | 139 +++++++++++ .../right/omniobject3d-bottle.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-bowl.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-box.yaml | 139 +++++++++++ .../right/omniobject3d-boxed_beverage.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-bread.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-brush.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-cake.yaml | 139 +++++++++++ .../right/omniobject3d-calculator.yaml | 139 +++++++++++ .../right/omniobject3d-candle.yaml | 139 +++++++++++ .../right/omniobject3d-carrot.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-chess.yaml | 139 +++++++++++ .../right/omniobject3d-chicken_leg.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-chili.yaml | 139 +++++++++++ .../right/omniobject3d-chinese_chess.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-clock.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-conch.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-corn.yaml | 139 +++++++++++ .../right/omniobject3d-cucumber.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-cup.yaml | 139 +++++++++++ .../right/omniobject3d-dinosaur.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-dish.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-donut.yaml | 139 +++++++++++ .../right/omniobject3d-dumpling.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-egg.yaml | 139 +++++++++++ .../right/omniobject3d-egg_tart.yaml | 139 +++++++++++ .../right/omniobject3d-eraser.yaml | 139 +++++++++++ .../right/omniobject3d-facial_cream.yaml | 139 +++++++++++ .../right/omniobject3d-flash_light.yaml | 139 +++++++++++ .../right/omniobject3d-garage_kit.yaml | 139 +++++++++++ .../right/omniobject3d-garlic.yaml | 139 +++++++++++ .../right/omniobject3d-glasses.yaml | 139 +++++++++++ .../right/omniobject3d-glasses_case.yaml | 139 +++++++++++ .../right/omniobject3d-hair_dryer.yaml | 139 +++++++++++ .../right/omniobject3d-hamburger.yaml | 139 +++++++++++ .../right/omniobject3d-hammer.yaml | 139 +++++++++++ .../right/omniobject3d-hand_cream.yaml | 139 +++++++++++ .../right/omniobject3d-hot_dog.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-knife.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-lemon.yaml | 2 +- .../right/omniobject3d-lipstick.yaml | 139 +++++++++++ .../right/omniobject3d-lotus_root.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-mango.yaml | 139 +++++++++++ .../right/omniobject3d-mangosteen.yaml | 139 +++++++++++ .../right/omniobject3d-medicine_bottle.yaml | 139 +++++++++++ .../right/omniobject3d-mooncake.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-mouse.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-mug.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-onion.yaml | 139 +++++++++++ .../right/omniobject3d-orange.yaml | 139 +++++++++++ .../right/omniobject3d-pastry.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-peach.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-pear.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-pen.yaml | 139 +++++++++++ .../right/omniobject3d-pineapple.yaml | 139 +++++++++++ .../right/omniobject3d-pitaya.yaml | 139 +++++++++++ .../right/omniobject3d-pomegranate.yaml | 139 +++++++++++ .../right/omniobject3d-power_strip.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-razor.yaml | 139 +++++++++++ .../right/omniobject3d-red_wine_glass.yaml | 139 +++++++++++ .../right/omniobject3d-remote_control.yaml | 139 +++++++++++ .../right/omniobject3d-rubik_cube.yaml | 139 +++++++++++ .../right/omniobject3d-sausage.yaml | 139 +++++++++++ .../right/omniobject3d-scissor.yaml | 139 +++++++++++ .../right/omniobject3d-shampoo.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-shoe.yaml | 139 +++++++++++ .../right/omniobject3d-shrimp.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-soap.yaml | 139 +++++++++++ .../right/omniobject3d-spanner.yaml | 139 +++++++++++ .../right/omniobject3d-starfish.yaml | 139 +++++++++++ .../right/omniobject3d-sweet_potato.yaml | 139 +++++++++++ .../right/omniobject3d-table_tennis_bat.yaml | 139 +++++++++++ .../right/omniobject3d-tape_measure.yaml | 139 +++++++++++ .../right/omniobject3d-teapot.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-timer.yaml | 139 +++++++++++ .../right/omniobject3d-tissue.yaml | 139 +++++++++++ .../right/omniobject3d-tomato.yaml | 139 +++++++++++ .../right/omniobject3d-tooth_brush.yaml | 139 +++++++++++ .../right/omniobject3d-tooth_paste.yaml | 139 +++++++++++ .../right/omniobject3d-toy_animals.yaml | 139 +++++++++++ .../right/omniobject3d-toy_boat.yaml | 139 +++++++++++ .../right/omniobject3d-toy_bus.yaml | 139 +++++++++++ .../right/omniobject3d-toy_car.yaml | 139 +++++++++++ .../right/omniobject3d-toy_motorcycle.yaml | 139 +++++++++++ .../right/omniobject3d-toy_plane.yaml | 139 +++++++++++ .../right/omniobject3d-toy_plant.yaml | 139 +++++++++++ .../right/omniobject3d-toy_train.yaml | 139 +++++++++++ .../right/omniobject3d-toy_truck.yaml | 139 +++++++++++ .../right/omniobject3d-umbrella.yaml | 139 +++++++++++ .../right/omniobject3d-waffle.yaml | 139 +++++++++++ .../single_pick/right/omniobject3d-watch.yaml | 139 +++++++++++ .../right/omniobject3d-whistle.yaml | 139 +++++++++++ .../genie1/single_pick/right/phocal-can.yaml | 139 +++++++++++ .../right/phocal-red_wine_glass.yaml | 139 +++++++++++ .../single_pick/right/phocal-spoon.yaml | 139 +++++++++++ .../genie1/single_pick/right/real-camera.yaml | 139 +++++++++++ .../single_pnp/left/google_scan-handbag.yaml | 180 ++++++++++++++ .../single_pnp/left/google_scan-hat.yaml | 180 ++++++++++++++ .../left/omniobject3d-asparagus.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-ball.yaml | 180 ++++++++++++++ .../left/omniobject3d-bamboo_shoots.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-battery.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-belt.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-bottle.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-bowl.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-box.yaml | 180 ++++++++++++++ .../left/omniobject3d-boxed_beverage.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-bread.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-brush.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-cake.yaml | 180 ++++++++++++++ .../left/omniobject3d-calculator.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-candle.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-carrot.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-chess.yaml | 180 ++++++++++++++ .../left/omniobject3d-chicken_leg.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-chili.yaml | 180 ++++++++++++++ .../left/omniobject3d-chinese_chess.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-clock.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-conch.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-corn.yaml | 180 ++++++++++++++ .../left/omniobject3d-cucumber.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-cup.yaml | 180 ++++++++++++++ .../left/omniobject3d-dinosaur.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-dish.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-donut.yaml | 180 ++++++++++++++ .../left/omniobject3d-dumpling.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-egg.yaml | 180 ++++++++++++++ .../left/omniobject3d-egg_tart.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-eraser.yaml | 180 ++++++++++++++ .../left/omniobject3d-facial_cream.yaml | 180 ++++++++++++++ .../left/omniobject3d-flash_light.yaml | 180 ++++++++++++++ .../left/omniobject3d-garage_kit.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-garlic.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-glasses.yaml | 180 ++++++++++++++ .../left/omniobject3d-glasses_case.yaml | 180 ++++++++++++++ .../left/omniobject3d-hair_dryer.yaml | 180 ++++++++++++++ .../left/omniobject3d-hamburger.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-hammer.yaml | 180 ++++++++++++++ .../left/omniobject3d-hand_cream.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-hot_dog.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-knife.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-lemon.yaml | 180 ++++++++++++++ .../left/omniobject3d-lipstick.yaml | 180 ++++++++++++++ .../left/omniobject3d-lotus_root.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-mango.yaml | 180 ++++++++++++++ .../left/omniobject3d-mangosteen.yaml | 180 ++++++++++++++ .../left/omniobject3d-medicine_bottle.yaml | 180 ++++++++++++++ .../left/omniobject3d-mooncake.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-mouse.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-mug.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-onion.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-orange.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-pastry.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-peach.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-pear.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-pen.yaml | 180 ++++++++++++++ .../left/omniobject3d-pineapple.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-pitaya.yaml | 180 ++++++++++++++ .../left/omniobject3d-pomegranate.yaml | 180 ++++++++++++++ .../left/omniobject3d-power_strip.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-razor.yaml | 180 ++++++++++++++ .../left/omniobject3d-red_wine_glass.yaml | 180 ++++++++++++++ .../left/omniobject3d-remote_control.yaml | 180 ++++++++++++++ .../left/omniobject3d-rubik_cube.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-sausage.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-scissor.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-shampoo.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-shoe.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-shrimp.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-soap.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-spanner.yaml | 180 ++++++++++++++ .../left/omniobject3d-starfish.yaml | 180 ++++++++++++++ .../left/omniobject3d-sweet_potato.yaml | 180 ++++++++++++++ .../left/omniobject3d-table_tennis_bat.yaml | 180 ++++++++++++++ .../left/omniobject3d-tape_measure.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-teapot.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-timer.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-tissue.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-tomato.yaml | 180 ++++++++++++++ .../left/omniobject3d-tooth_brush.yaml | 180 ++++++++++++++ .../left/omniobject3d-tooth_paste.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_animals.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_boat.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-toy_bus.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-toy_car.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_motorcycle.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_plane.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_plant.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_train.yaml | 180 ++++++++++++++ .../left/omniobject3d-toy_truck.yaml | 180 ++++++++++++++ .../left/omniobject3d-umbrella.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-waffle.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-watch.yaml | 180 ++++++++++++++ .../single_pnp/left/omniobject3d-whistle.yaml | 180 ++++++++++++++ .../genie1/single_pnp/left/phocal-can.yaml | 180 ++++++++++++++ .../left/phocal-red_wine_glass.yaml | 180 ++++++++++++++ .../genie1/single_pnp/left/phocal-spoon.yaml | 180 ++++++++++++++ .../genie1/single_pnp/left/real-camera.yaml | 180 ++++++++++++++ .../single_pnp/right/google_scan-handbag.yaml | 180 ++++++++++++++ .../single_pnp/right/google_scan-hat.yaml | 180 ++++++++++++++ .../right/omniobject3d-asparagus.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-ball.yaml | 180 ++++++++++++++ .../right/omniobject3d-bamboo_shoots.yaml | 180 ++++++++++++++ .../right/omniobject3d-battery.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-belt.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-bottle.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-bowl.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-box.yaml | 180 ++++++++++++++ .../right/omniobject3d-boxed_beverage.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-bread.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-brush.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-cake.yaml | 180 ++++++++++++++ .../right/omniobject3d-calculator.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-candle.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-carrot.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-chess.yaml | 180 ++++++++++++++ .../right/omniobject3d-chicken_leg.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-chili.yaml | 180 ++++++++++++++ .../right/omniobject3d-chinese_chess.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-clock.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-conch.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-corn.yaml | 180 ++++++++++++++ .../right/omniobject3d-cucumber.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-cup.yaml | 180 ++++++++++++++ .../right/omniobject3d-dinosaur.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-dish.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-donut.yaml | 180 ++++++++++++++ .../right/omniobject3d-dumpling.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-egg.yaml | 180 ++++++++++++++ .../right/omniobject3d-egg_tart.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-eraser.yaml | 180 ++++++++++++++ .../right/omniobject3d-facial_cream.yaml | 180 ++++++++++++++ .../right/omniobject3d-flash_light.yaml | 180 ++++++++++++++ .../right/omniobject3d-garage_kit.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-garlic.yaml | 180 ++++++++++++++ .../right/omniobject3d-glasses.yaml | 180 ++++++++++++++ .../right/omniobject3d-glasses_case.yaml | 180 ++++++++++++++ .../right/omniobject3d-hair_dryer.yaml | 180 ++++++++++++++ .../right/omniobject3d-hamburger.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-hammer.yaml | 180 ++++++++++++++ .../right/omniobject3d-hand_cream.yaml | 180 ++++++++++++++ .../right/omniobject3d-hot_dog.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-knife.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-lemon.yaml | 180 ++++++++++++++ .../right/omniobject3d-lipstick.yaml | 180 ++++++++++++++ .../right/omniobject3d-lotus_root.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-mango.yaml | 180 ++++++++++++++ .../right/omniobject3d-mangosteen.yaml | 180 ++++++++++++++ .../right/omniobject3d-medicine_bottle.yaml | 180 ++++++++++++++ .../right/omniobject3d-mooncake.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-mouse.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-mug.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-onion.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-orange.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-pastry.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-peach.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-pear.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-pen.yaml | 180 ++++++++++++++ .../right/omniobject3d-pineapple.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-pitaya.yaml | 180 ++++++++++++++ .../right/omniobject3d-pomegranate.yaml | 180 ++++++++++++++ .../right/omniobject3d-power_strip.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-razor.yaml | 180 ++++++++++++++ .../right/omniobject3d-red_wine_glass.yaml | 180 ++++++++++++++ .../right/omniobject3d-remote_control.yaml | 180 ++++++++++++++ .../right/omniobject3d-rubik_cube.yaml | 180 ++++++++++++++ .../right/omniobject3d-sausage.yaml | 180 ++++++++++++++ .../right/omniobject3d-scissor.yaml | 180 ++++++++++++++ .../right/omniobject3d-shampoo.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-shoe.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-shrimp.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-soap.yaml | 180 ++++++++++++++ .../right/omniobject3d-spanner.yaml | 180 ++++++++++++++ .../right/omniobject3d-starfish.yaml | 180 ++++++++++++++ .../right/omniobject3d-sweet_potato.yaml | 180 ++++++++++++++ .../right/omniobject3d-table_tennis_bat.yaml | 180 ++++++++++++++ .../right/omniobject3d-tape_measure.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-teapot.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-timer.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-tissue.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-tomato.yaml | 180 ++++++++++++++ .../right/omniobject3d-tooth_brush.yaml | 180 ++++++++++++++ .../right/omniobject3d-tooth_paste.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_animals.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_boat.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_bus.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_car.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_motorcycle.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_plane.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_plant.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_train.yaml | 180 ++++++++++++++ .../right/omniobject3d-toy_truck.yaml | 180 ++++++++++++++ .../right/omniobject3d-umbrella.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-waffle.yaml | 180 ++++++++++++++ .../single_pnp/right/omniobject3d-watch.yaml | 180 ++++++++++++++ .../right/omniobject3d-whistle.yaml | 180 ++++++++++++++ .../genie1/single_pnp/right/phocal-can.yaml | 180 ++++++++++++++ .../right/phocal-red_wine_glass.yaml | 180 ++++++++++++++ .../genie1/single_pnp/right/phocal-spoon.yaml | 180 ++++++++++++++ .../genie1/single_pnp/right/real-camera.yaml | 180 ++++++++++++++ .../single_pick/left/google_scan-handbag.yaml | 145 +++++++++++ .../single_pick/left/google_scan-hat.yaml | 145 +++++++++++ .../left/omniobject3d-asparagus.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-ball.yaml | 145 +++++++++++ .../left/omniobject3d-bamboo_shoots.yaml | 145 +++++++++++ .../left/omniobject3d-battery.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-belt.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-bottle.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-bowl.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-box.yaml | 145 +++++++++++ .../left/omniobject3d-boxed_beverage.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-bread.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-brush.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-cake.yaml | 145 +++++++++++ .../left/omniobject3d-calculator.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-candle.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-carrot.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-chess.yaml | 145 +++++++++++ .../left/omniobject3d-chicken_leg.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-chili.yaml | 145 +++++++++++ .../left/omniobject3d-chinese_chess.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-clock.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-conch.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-corn.yaml | 145 +++++++++++ .../left/omniobject3d-cucumber.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-cup.yaml | 145 +++++++++++ .../left/omniobject3d-dinosaur.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-dish.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-donut.yaml | 145 +++++++++++ .../left/omniobject3d-dumpling.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-egg.yaml | 145 +++++++++++ .../left/omniobject3d-egg_tart.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-eraser.yaml | 145 +++++++++++ .../left/omniobject3d-facial_cream.yaml | 145 +++++++++++ .../left/omniobject3d-flash_light.yaml | 145 +++++++++++ .../left/omniobject3d-garage_kit.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-garlic.yaml | 145 +++++++++++ .../left/omniobject3d-glasses.yaml | 145 +++++++++++ .../left/omniobject3d-glasses_case.yaml | 145 +++++++++++ .../left/omniobject3d-hair_dryer.yaml | 145 +++++++++++ .../left/omniobject3d-hamburger.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-hammer.yaml | 145 +++++++++++ .../left/omniobject3d-hand_cream.yaml | 145 +++++++++++ .../left/omniobject3d-hot_dog.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-knife.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-lemon.yaml | 145 +++++++++++ .../left/omniobject3d-lipstick.yaml | 145 +++++++++++ .../left/omniobject3d-lotus_root.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-mango.yaml | 145 +++++++++++ .../left/omniobject3d-mangosteen.yaml | 145 +++++++++++ .../left/omniobject3d-medicine_bottle.yaml | 145 +++++++++++ .../left/omniobject3d-mooncake.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-mouse.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-mug.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-onion.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-orange.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-pastry.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-peach.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-pear.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-pen.yaml | 145 +++++++++++ .../left/omniobject3d-pineapple.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-pitaya.yaml | 145 +++++++++++ .../left/omniobject3d-pomegranate.yaml | 145 +++++++++++ .../left/omniobject3d-power_strip.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-razor.yaml | 145 +++++++++++ .../left/omniobject3d-red_wine_glass.yaml | 145 +++++++++++ .../left/omniobject3d-remote_control.yaml | 145 +++++++++++ .../left/omniobject3d-rubik_cube.yaml | 145 +++++++++++ .../left/omniobject3d-sausage.yaml | 145 +++++++++++ .../left/omniobject3d-scissor.yaml | 145 +++++++++++ .../left/omniobject3d-shampoo.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-shoe.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-shrimp.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-soap.yaml | 145 +++++++++++ .../left/omniobject3d-spanner.yaml | 145 +++++++++++ .../left/omniobject3d-starfish.yaml | 145 +++++++++++ .../left/omniobject3d-sweet_potato.yaml | 145 +++++++++++ .../left/omniobject3d-table_tennis_bat.yaml | 145 +++++++++++ .../left/omniobject3d-tape_measure.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-teapot.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-timer.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-tissue.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-tomato.yaml | 145 +++++++++++ .../left/omniobject3d-tooth_brush.yaml | 145 +++++++++++ .../left/omniobject3d-tooth_paste.yaml | 145 +++++++++++ .../left/omniobject3d-toy_animals.yaml | 145 +++++++++++ .../left/omniobject3d-toy_boat.yaml | 145 +++++++++++ .../left/omniobject3d-toy_bus.yaml | 145 +++++++++++ .../left/omniobject3d-toy_car.yaml | 145 +++++++++++ .../left/omniobject3d-toy_motorcycle.yaml | 145 +++++++++++ .../left/omniobject3d-toy_plane.yaml | 145 +++++++++++ .../left/omniobject3d-toy_plant.yaml | 145 +++++++++++ .../left/omniobject3d-toy_train.yaml | 145 +++++++++++ .../left/omniobject3d-toy_truck.yaml | 145 +++++++++++ .../left/omniobject3d-umbrella.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-waffle.yaml | 145 +++++++++++ .../single_pick/left/omniobject3d-watch.yaml | 145 +++++++++++ .../left/omniobject3d-whistle.yaml | 145 +++++++++++ .../lift2/single_pick/left/phocal-can.yaml | 145 +++++++++++ .../left/phocal-red_wine_glass.yaml | 145 +++++++++++ .../lift2/single_pick/left/phocal-spoon.yaml | 145 +++++++++++ .../lift2/single_pick/left/real-camera.yaml | 145 +++++++++++ .../right/google_scan-handbag.yaml | 145 +++++++++++ .../single_pick/right/google_scan-hat.yaml | 145 +++++++++++ .../right/omniobject3d-asparagus.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-ball.yaml | 145 +++++++++++ .../right/omniobject3d-bamboo_shoots.yaml | 145 +++++++++++ .../right/omniobject3d-banana.yaml | 2 +- .../right/omniobject3d-battery.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-belt.yaml | 145 +++++++++++ .../right/omniobject3d-bottle.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-bowl.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-box.yaml | 145 +++++++++++ .../right/omniobject3d-boxed_beverage.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-bread.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-brush.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-cake.yaml | 145 +++++++++++ .../right/omniobject3d-calculator.yaml | 145 +++++++++++ .../right/omniobject3d-candle.yaml | 145 +++++++++++ .../right/omniobject3d-carrot.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-chess.yaml | 145 +++++++++++ .../right/omniobject3d-chicken_leg.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-chili.yaml | 145 +++++++++++ .../right/omniobject3d-chinese_chess.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-clock.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-conch.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-corn.yaml | 145 +++++++++++ .../right/omniobject3d-cucumber.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-cup.yaml | 145 +++++++++++ .../right/omniobject3d-dinosaur.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-dish.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-donut.yaml | 145 +++++++++++ .../right/omniobject3d-dumpling.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-egg.yaml | 145 +++++++++++ .../right/omniobject3d-egg_tart.yaml | 145 +++++++++++ .../right/omniobject3d-eraser.yaml | 145 +++++++++++ .../right/omniobject3d-facial_cream.yaml | 145 +++++++++++ .../right/omniobject3d-flash_light.yaml | 145 +++++++++++ .../right/omniobject3d-garage_kit.yaml | 145 +++++++++++ .../right/omniobject3d-garlic.yaml | 145 +++++++++++ .../right/omniobject3d-glasses.yaml | 145 +++++++++++ .../right/omniobject3d-glasses_case.yaml | 145 +++++++++++ .../right/omniobject3d-hair_dryer.yaml | 145 +++++++++++ .../right/omniobject3d-hamburger.yaml | 145 +++++++++++ .../right/omniobject3d-hammer.yaml | 145 +++++++++++ .../right/omniobject3d-hand_cream.yaml | 145 +++++++++++ .../right/omniobject3d-hot_dog.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-knife.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-lemon.yaml | 145 +++++++++++ .../right/omniobject3d-lipstick.yaml | 145 +++++++++++ .../right/omniobject3d-lotus_root.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-mango.yaml | 145 +++++++++++ .../right/omniobject3d-mangosteen.yaml | 145 +++++++++++ .../right/omniobject3d-medicine_bottle.yaml | 145 +++++++++++ .../right/omniobject3d-mooncake.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-mouse.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-mug.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-onion.yaml | 145 +++++++++++ .../right/omniobject3d-orange.yaml | 145 +++++++++++ .../right/omniobject3d-pastry.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-peach.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-pear.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-pen.yaml | 145 +++++++++++ .../right/omniobject3d-pineapple.yaml | 145 +++++++++++ .../right/omniobject3d-pitaya.yaml | 145 +++++++++++ .../right/omniobject3d-pomegranate.yaml | 145 +++++++++++ .../right/omniobject3d-power_strip.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-razor.yaml | 145 +++++++++++ .../right/omniobject3d-red_wine_glass.yaml | 145 +++++++++++ .../right/omniobject3d-remote_control.yaml | 145 +++++++++++ .../right/omniobject3d-rubik_cube.yaml | 145 +++++++++++ .../right/omniobject3d-sausage.yaml | 145 +++++++++++ .../right/omniobject3d-scissor.yaml | 145 +++++++++++ .../right/omniobject3d-shampoo.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-shoe.yaml | 145 +++++++++++ .../right/omniobject3d-shrimp.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-soap.yaml | 145 +++++++++++ .../right/omniobject3d-spanner.yaml | 145 +++++++++++ .../right/omniobject3d-starfish.yaml | 145 +++++++++++ .../right/omniobject3d-sweet_potato.yaml | 145 +++++++++++ .../right/omniobject3d-table_tennis_bat.yaml | 145 +++++++++++ .../right/omniobject3d-tape_measure.yaml | 145 +++++++++++ .../right/omniobject3d-teapot.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-timer.yaml | 145 +++++++++++ .../right/omniobject3d-tissue.yaml | 145 +++++++++++ .../right/omniobject3d-tomato.yaml | 145 +++++++++++ .../right/omniobject3d-tooth_brush.yaml | 145 +++++++++++ .../right/omniobject3d-tooth_paste.yaml | 145 +++++++++++ .../right/omniobject3d-toy_animals.yaml | 145 +++++++++++ .../right/omniobject3d-toy_boat.yaml | 145 +++++++++++ .../right/omniobject3d-toy_bus.yaml | 145 +++++++++++ .../right/omniobject3d-toy_car.yaml | 145 +++++++++++ .../right/omniobject3d-toy_motorcycle.yaml | 145 +++++++++++ .../right/omniobject3d-toy_plane.yaml | 145 +++++++++++ .../right/omniobject3d-toy_plant.yaml | 145 +++++++++++ .../right/omniobject3d-toy_train.yaml | 145 +++++++++++ .../right/omniobject3d-toy_truck.yaml | 145 +++++++++++ .../right/omniobject3d-umbrella.yaml | 145 +++++++++++ .../right/omniobject3d-waffle.yaml | 145 +++++++++++ .../single_pick/right/omniobject3d-watch.yaml | 145 +++++++++++ .../right/omniobject3d-whistle.yaml | 145 +++++++++++ .../lift2/single_pick/right/phocal-can.yaml | 145 +++++++++++ .../right/phocal-red_wine_glass.yaml | 145 +++++++++++ .../lift2/single_pick/right/phocal-spoon.yaml | 145 +++++++++++ .../lift2/single_pick/right/real-camera.yaml | 145 +++++++++++ .../single_pick/left/google_scan-handbag.yaml | 143 +++++++++++ .../single_pick/left/google_scan-hat.yaml | 143 +++++++++++ .../left/omniobject3d-asparagus.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-ball.yaml | 143 +++++++++++ .../left/omniobject3d-bamboo_shoots.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-banana.yaml | 2 +- .../left/omniobject3d-battery.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-belt.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-bottle.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-bowl.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-box.yaml | 143 +++++++++++ .../left/omniobject3d-boxed_beverage.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-bread.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-brush.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-cake.yaml | 143 +++++++++++ .../left/omniobject3d-calculator.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-candle.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-carrot.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-chess.yaml | 143 +++++++++++ .../left/omniobject3d-chicken_leg.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-chili.yaml | 143 +++++++++++ .../left/omniobject3d-chinese_chess.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-clock.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-conch.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-corn.yaml | 143 +++++++++++ .../left/omniobject3d-cucumber.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-cup.yaml | 143 +++++++++++ .../left/omniobject3d-dinosaur.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-dish.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-donut.yaml | 143 +++++++++++ .../left/omniobject3d-dumpling.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-egg.yaml | 143 +++++++++++ .../left/omniobject3d-egg_tart.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-eraser.yaml | 143 +++++++++++ .../left/omniobject3d-facial_cream.yaml | 143 +++++++++++ .../left/omniobject3d-flash_light.yaml | 143 +++++++++++ .../left/omniobject3d-garage_kit.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-garlic.yaml | 143 +++++++++++ .../left/omniobject3d-glasses.yaml | 143 +++++++++++ .../left/omniobject3d-glasses_case.yaml | 143 +++++++++++ .../left/omniobject3d-hair_dryer.yaml | 143 +++++++++++ .../left/omniobject3d-hamburger.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-hammer.yaml | 143 +++++++++++ .../left/omniobject3d-hand_cream.yaml | 143 +++++++++++ .../left/omniobject3d-hot_dog.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-knife.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-lemon.yaml | 143 +++++++++++ .../left/omniobject3d-lipstick.yaml | 143 +++++++++++ .../left/omniobject3d-lotus_root.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-mango.yaml | 143 +++++++++++ .../left/omniobject3d-mangosteen.yaml | 143 +++++++++++ .../left/omniobject3d-medicine_bottle.yaml | 143 +++++++++++ .../left/omniobject3d-mooncake.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-mouse.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-mug.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-onion.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-orange.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-pastry.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-peach.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-pear.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-pen.yaml | 143 +++++++++++ .../left/omniobject3d-pineapple.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-pitaya.yaml | 143 +++++++++++ .../left/omniobject3d-pomegranate.yaml | 143 +++++++++++ .../left/omniobject3d-power_strip.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-razor.yaml | 143 +++++++++++ .../left/omniobject3d-red_wine_glass.yaml | 143 +++++++++++ .../left/omniobject3d-remote_control.yaml | 143 +++++++++++ .../left/omniobject3d-rubik_cube.yaml | 143 +++++++++++ .../left/omniobject3d-sausage.yaml | 143 +++++++++++ .../left/omniobject3d-scissor.yaml | 143 +++++++++++ .../left/omniobject3d-shampoo.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-shoe.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-shrimp.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-soap.yaml | 143 +++++++++++ .../left/omniobject3d-spanner.yaml | 143 +++++++++++ .../left/omniobject3d-starfish.yaml | 143 +++++++++++ .../left/omniobject3d-sweet_potato.yaml | 143 +++++++++++ .../left/omniobject3d-table_tennis_bat.yaml | 143 +++++++++++ .../left/omniobject3d-tape_measure.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-teapot.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-timer.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-tissue.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-tomato.yaml | 143 +++++++++++ .../left/omniobject3d-tooth_brush.yaml | 143 +++++++++++ .../left/omniobject3d-tooth_paste.yaml | 143 +++++++++++ .../left/omniobject3d-toy_animals.yaml | 143 +++++++++++ .../left/omniobject3d-toy_boat.yaml | 143 +++++++++++ .../left/omniobject3d-toy_bus.yaml | 143 +++++++++++ .../left/omniobject3d-toy_car.yaml | 143 +++++++++++ .../left/omniobject3d-toy_motorcycle.yaml | 143 +++++++++++ .../left/omniobject3d-toy_plane.yaml | 143 +++++++++++ .../left/omniobject3d-toy_plant.yaml | 143 +++++++++++ .../left/omniobject3d-toy_train.yaml | 143 +++++++++++ .../left/omniobject3d-toy_truck.yaml | 143 +++++++++++ .../left/omniobject3d-umbrella.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-waffle.yaml | 143 +++++++++++ .../single_pick/left/omniobject3d-watch.yaml | 143 +++++++++++ .../left/omniobject3d-whistle.yaml | 143 +++++++++++ .../single_pick/left/phocal-can.yaml | 143 +++++++++++ .../left/phocal-red_wine_glass.yaml | 143 +++++++++++ .../single_pick/left/phocal-spoon.yaml | 143 +++++++++++ .../single_pick/left/real-camera.yaml | 143 +++++++++++ .../right/google_scan-handbag.yaml | 143 +++++++++++ .../single_pick/right/google_scan-hat.yaml | 143 +++++++++++ .../right/omniobject3d-asparagus.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-ball.yaml | 143 +++++++++++ .../right/omniobject3d-bamboo_shoots.yaml | 143 +++++++++++ .../right/omniobject3d-banana.yaml | 2 +- .../right/omniobject3d-battery.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-belt.yaml | 143 +++++++++++ .../right/omniobject3d-bottle.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-bowl.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-box.yaml | 143 +++++++++++ .../right/omniobject3d-boxed_beverage.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-bread.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-brush.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-cake.yaml | 143 +++++++++++ .../right/omniobject3d-calculator.yaml | 143 +++++++++++ .../right/omniobject3d-candle.yaml | 143 +++++++++++ .../right/omniobject3d-carrot.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-chess.yaml | 143 +++++++++++ .../right/omniobject3d-chicken_leg.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-chili.yaml | 143 +++++++++++ .../right/omniobject3d-chinese_chess.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-clock.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-conch.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-corn.yaml | 143 +++++++++++ .../right/omniobject3d-cucumber.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-cup.yaml | 143 +++++++++++ .../right/omniobject3d-dinosaur.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-dish.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-donut.yaml | 143 +++++++++++ .../right/omniobject3d-dumpling.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-egg.yaml | 143 +++++++++++ .../right/omniobject3d-egg_tart.yaml | 143 +++++++++++ .../right/omniobject3d-eraser.yaml | 143 +++++++++++ .../right/omniobject3d-facial_cream.yaml | 143 +++++++++++ .../right/omniobject3d-flash_light.yaml | 143 +++++++++++ .../right/omniobject3d-garage_kit.yaml | 143 +++++++++++ .../right/omniobject3d-garlic.yaml | 143 +++++++++++ .../right/omniobject3d-glasses.yaml | 143 +++++++++++ .../right/omniobject3d-glasses_case.yaml | 143 +++++++++++ .../right/omniobject3d-hair_dryer.yaml | 143 +++++++++++ .../right/omniobject3d-hamburger.yaml | 143 +++++++++++ .../right/omniobject3d-hammer.yaml | 143 +++++++++++ .../right/omniobject3d-hand_cream.yaml | 143 +++++++++++ .../right/omniobject3d-hot_dog.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-knife.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-lemon.yaml | 143 +++++++++++ .../right/omniobject3d-lipstick.yaml | 143 +++++++++++ .../right/omniobject3d-lotus_root.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-mango.yaml | 143 +++++++++++ .../right/omniobject3d-mangosteen.yaml | 143 +++++++++++ .../right/omniobject3d-medicine_bottle.yaml | 143 +++++++++++ .../right/omniobject3d-mooncake.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-mouse.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-mug.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-onion.yaml | 143 +++++++++++ .../right/omniobject3d-orange.yaml | 143 +++++++++++ .../right/omniobject3d-pastry.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-peach.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-pear.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-pen.yaml | 143 +++++++++++ .../right/omniobject3d-pineapple.yaml | 143 +++++++++++ .../right/omniobject3d-pitaya.yaml | 143 +++++++++++ .../right/omniobject3d-pomegranate.yaml | 143 +++++++++++ .../right/omniobject3d-power_strip.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-razor.yaml | 143 +++++++++++ .../right/omniobject3d-red_wine_glass.yaml | 143 +++++++++++ .../right/omniobject3d-remote_control.yaml | 143 +++++++++++ .../right/omniobject3d-rubik_cube.yaml | 143 +++++++++++ .../right/omniobject3d-sausage.yaml | 143 +++++++++++ .../right/omniobject3d-scissor.yaml | 143 +++++++++++ .../right/omniobject3d-shampoo.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-shoe.yaml | 143 +++++++++++ .../right/omniobject3d-shrimp.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-soap.yaml | 143 +++++++++++ .../right/omniobject3d-spanner.yaml | 143 +++++++++++ .../right/omniobject3d-starfish.yaml | 143 +++++++++++ .../right/omniobject3d-sweet_potato.yaml | 143 +++++++++++ .../right/omniobject3d-table_tennis_bat.yaml | 143 +++++++++++ .../right/omniobject3d-tape_measure.yaml | 143 +++++++++++ .../right/omniobject3d-teapot.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-timer.yaml | 143 +++++++++++ .../right/omniobject3d-tissue.yaml | 143 +++++++++++ .../right/omniobject3d-tomato.yaml | 143 +++++++++++ .../right/omniobject3d-tooth_brush.yaml | 143 +++++++++++ .../right/omniobject3d-tooth_paste.yaml | 143 +++++++++++ .../right/omniobject3d-toy_animals.yaml | 143 +++++++++++ .../right/omniobject3d-toy_boat.yaml | 143 +++++++++++ .../right/omniobject3d-toy_bus.yaml | 143 +++++++++++ .../right/omniobject3d-toy_car.yaml | 143 +++++++++++ .../right/omniobject3d-toy_motorcycle.yaml | 143 +++++++++++ .../right/omniobject3d-toy_plane.yaml | 143 +++++++++++ .../right/omniobject3d-toy_plant.yaml | 143 +++++++++++ .../right/omniobject3d-toy_train.yaml | 143 +++++++++++ .../right/omniobject3d-toy_truck.yaml | 143 +++++++++++ .../right/omniobject3d-umbrella.yaml | 143 +++++++++++ .../right/omniobject3d-waffle.yaml | 143 +++++++++++ .../single_pick/right/omniobject3d-watch.yaml | 143 +++++++++++ .../right/omniobject3d-whistle.yaml | 143 +++++++++++ .../single_pick/right/phocal-can.yaml | 143 +++++++++++ .../right/phocal-red_wine_glass.yaml | 143 +++++++++++ .../single_pick/right/phocal-spoon.yaml | 143 +++++++++++ .../single_pick/right/real-camera.yaml | 143 +++++++++++ 934 files changed, 138740 insertions(+), 7 deletions(-) create mode 100644 scripts/generate_pick_configs.py create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-handbag.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-hat.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-asparagus.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-ball.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bamboo_shoots.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-battery.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-belt.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bottle.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bowl.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-box.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-boxed_beverage.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bread.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-brush.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cake.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-calculator.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-candle.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-carrot.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chess.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chicken_leg.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chili.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chinese_chess.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-clock.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-conch.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-corn.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cucumber.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cup.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dinosaur.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dish.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-donut.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dumpling.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg_tart.yaml create mode 100644 workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-eraser.yaml create mode 100644 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+Replaces asset names and USD paths based on available assets. +""" + +import os +import shutil +from pathlib import Path +from typing import List, Dict, Optional + +# Configuration +ASSETS_DIR = Path("workflows/simbox/assets/pick_and_place/pre-train-pick/assets") +FUNCTIONAL_ASSETS_DIR = Path("workflows/simbox/assets/pick_and_place/functional-pick-assets") +CONFIG_BASE_DIR = Path("workflows/simbox/core/configs/tasks/pick_and_place") + +# Exclude these asset folders from pre-train-pick +EXCLUDE_ASSETS = ["google_scan-book", "google_scan-box", "omniobject3d-rubik_cube-old"] + +# Template configs: (robot, task_type, arm_side, template_path, template_asset_name, assets_dir_type) +# task_type: "single_pick", "single_pnp", "single_func_pick", etc. +# arm_side: "left", "right", or None (for single-arm robots like franka) +# assets_dir_type: "pre-train" or "functional" +TEMPLATE_CONFIGS = [ + # lift2 - single_pick (pre-train assets) + ("lift2", "single_pick", "left", "lift2/single_pick/left/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), + ("lift2", "single_pick", "right", "lift2/single_pick/right/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), + # split_aloha - single_pick (pre-train assets) + ("split_aloha", "single_pick", "left", "split_aloha/single_pick/left/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), + ("split_aloha", "single_pick", "right", "split_aloha/single_pick/right/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), + # franka - single_pick (pre-train assets, single arm, no left/right) + ("franka", "single_pick", None, "franka/single_pick/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), + # genie1 - single_pick (pre-train assets) + ("genie1", "single_pick", "left", "genie1/single_pick/left/omniobject3d-lemon.yaml", "omniobject3d-lemon", "pre-train"), + ("genie1", "single_pick", "right", "genie1/single_pick/right/omniobject3d-lemon.yaml", "omniobject3d-lemon", "pre-train"), + # genie1 - single_pnp (pre-train assets, pick and place) + ("genie1", "single_pnp", "left", "genie1/single_pnp/left/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), + ("genie1", "single_pnp", "right", "genie1/single_pnp/right/omniobject3d-banana.yaml", "omniobject3d-banana", "pre-train"), +] + +# Functional pick template configs (uses functional-pick-assets) +FUNCTIONAL_TEMPLATE_CONFIGS = [ + # genie1 - single_func_pick (functional assets) + ("genie1", "single_func_pick", "left", "genie1/single_func_pick/left/omniobject3d-hammer.yaml", "omniobject3d-hammer", "functional"), + ("genie1", "single_func_pick", "right", "genie1/single_func_pick/right/omniobject3d-hammer.yaml", "omniobject3d-hammer", "functional"), +] + + +def get_all_assets(assets_dir: Path, exclude: List[str] = None) -> List[str]: + """Get all asset folder names, excluding specified ones.""" + if exclude is None: + exclude = [] + assets = [] + for item in sorted(assets_dir.iterdir()): + if item.is_dir() and item.name not in exclude: + assets.append(item.name) + return assets + + +def get_first_usd_path(assets_dir: Path, asset_name: str, assets_dir_type: str = "pre-train") -> Optional[str]: + """Get the first USD file path for an asset.""" + asset_folder = assets_dir / asset_name + if not asset_folder.exists(): + return None + + # Get all subfolders + subfolders = sorted([f for f in asset_folder.iterdir() if f.is_dir()]) + if not subfolders: + return None + + # Find the first subfolder with Aligned_obj.usd + for subfolder in subfolders: + usd_file = subfolder / "Aligned_obj.usd" + if usd_file.exists(): + if assets_dir_type == "functional": + return f"pick_and_place/functional-pick-assets/{asset_name}/{subfolder.name}/Aligned_obj.usd" + else: + return f"pick_and_place/pre-train-pick/assets/{asset_name}/{subfolder.name}/Aligned_obj.usd" + + return None + + +def replace_in_yaml(content: str, old_asset: str, new_asset: str, new_usd_path: str) -> str: + """Replace asset name and USD path in YAML content. + + Note: Does NOT modify distractors section - it should remain unchanged. + Only replaces paths that end with .usd (object paths, not directory paths). + """ + lines = content.split('\n') + new_lines = [] + + for line in lines: + # Replace path line ONLY if it's a USD file path (ends with .usd) + # This distinguishes object paths from distractor directory paths + # Support both pre-train-pick/assets and functional-pick-assets + if "path:" in line and "pick_and_place/" in line and ".usd" in line: + # Replace the USD path + indent = len(line) - len(line.lstrip()) + new_lines.append(" " * indent + f"path: {new_usd_path}") + elif "category:" in line and old_asset in line: + # Replace category + indent = len(line) - len(line.lstrip()) + new_lines.append(" " * indent + f'category: "{new_asset}"') + elif "task_dir:" in line and old_asset in line: + # Replace task_dir + indent = len(line) - len(line.lstrip()) + # Extract the directory structure before the asset name + old_task_dir = line.split('"')[1] + new_task_dir = old_task_dir.replace(old_asset, new_asset) + new_lines.append(" " * indent + f'task_dir: "{new_task_dir}"') + else: + new_lines.append(line) + + return '\n'.join(new_lines) + + +def generate_configs( + assets: List[str], + template_configs: List[tuple], + config_base_dir: Path, + assets_dir: Path, + dry_run: bool = True +): + """Generate YAML config files for all assets.""" + + for robot, task_type, arm_side, template_rel_path, template_asset_name, assets_dir_type in template_configs: + template_path = config_base_dir / template_rel_path + + if not template_path.exists(): + print(f"[WARNING] Template not found: {template_path}") + continue + + # Read template content + with open(template_path, 'r') as f: + template_content = f.read() + + # Determine output directory based on task_type and arm_side + if arm_side is None: + # Single-arm robot (like franka) + output_dir = config_base_dir / robot / task_type + else: + # Dual-arm robot with left/right + output_dir = config_base_dir / robot / task_type / arm_side + output_dir.mkdir(parents=True, exist_ok=True) + + for asset_name in assets: + # Get USD path for this asset + usd_path = get_first_usd_path(assets_dir, asset_name, assets_dir_type) + if usd_path is None: + print(f"[SKIP] No USD found for {asset_name}") + continue + + # Generate new content + new_content = replace_in_yaml( + template_content, + template_asset_name, + asset_name, + usd_path + ) + + # Output file path + output_file = output_dir / f"{asset_name}.yaml" + + if dry_run: + print(f"[DRY-RUN] Would create: {output_file}") + print(f" USD path: {usd_path}") + else: + with open(output_file, 'w') as f: + f.write(new_content) + print(f"[CREATED] {output_file}") + + +def main(): + import argparse + + parser = argparse.ArgumentParser(description="Batch generate YAML config files") + parser.add_argument("--dry-run", action="store_true", help="Show what would be done without creating files") + parser.add_argument("--assets", nargs="+", help="Specific assets to process (default: all)") + parser.add_argument("--robots", nargs="+", help="Specific robots to process (default: all)") + parser.add_argument("--task-types", nargs="+", help="Specific task types to process (default: all)") + parser.add_argument("--functional", action="store_true", help="Generate configs for functional pick assets") + args = parser.parse_args() + + # Change to repo root + script_dir = Path(__file__).parent + os.chdir(script_dir.parent) + + # Select template configs based on --functional flag + if args.functional: + template_configs = FUNCTIONAL_TEMPLATE_CONFIGS + assets_dir = FUNCTIONAL_ASSETS_DIR + exclude = [] # Don't exclude anything for functional assets + else: + template_configs = TEMPLATE_CONFIGS + assets_dir = ASSETS_DIR + exclude = EXCLUDE_ASSETS + + # Get assets + if args.assets: + assets = args.assets + else: + assets = get_all_assets(assets_dir, exclude) + + # Filter templates by robots and task_types if specified + if args.robots: + template_configs = [t for t in template_configs if t[0] in args.robots] + if args.task_types: + template_configs = [t for t in template_configs if t[1] in args.task_types] + + print(f"Assets directory: {assets_dir}") + print(f"Found {len(assets)} assets to process") + print(f"Assets: {assets[:5]}..." if len(assets) > 5 else f"Assets: {assets}") + print(f"Templates: {[(t[0], t[1], t[2]) for t in template_configs]}") + print(f"Dry run: {args.dry_run}") + print("-" * 50) + + generate_configs( + assets=assets, + template_configs=template_configs, + config_base_dir=CONFIG_BASE_DIR, + assets_dir=assets_dir, + dry_run=args.dry_run + ) + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-handbag.yaml new file mode 100644 index 0000000..ed8477c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-handbag.yaml @@ -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/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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/google_scan-handbag" + 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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-hat.yaml new file mode 100644 index 0000000..2e0bdbe --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/google_scan-hat.yaml @@ -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/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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/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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..4e9515a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-asparagus.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-ball.yaml new file mode 100644 index 0000000..fc9a9dc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-ball.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..8d771a0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bamboo_shoots.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-banana.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-banana.yaml index 212cd40..c0d5c41 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-banana.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-banana.yaml @@ -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" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-battery.yaml new file mode 100644 index 0000000..165cd4c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-battery.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-belt.yaml new file mode 100644 index 0000000..e6d7dce --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-belt.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bottle.yaml new file mode 100644 index 0000000..6f72c81 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bottle.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bowl.yaml new file mode 100644 index 0000000..9dc69f6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bowl.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-box.yaml new file mode 100644 index 0000000..3c41953 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-box.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..4e31e59 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-boxed_beverage.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bread.yaml new file mode 100644 index 0000000..6b0a40b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-bread.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-brush.yaml new file mode 100644 index 0000000..86f4935 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-brush.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cake.yaml new file mode 100644 index 0000000..c6a2ba5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cake.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-calculator.yaml new file mode 100644 index 0000000..16e484d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-calculator.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-candle.yaml new file mode 100644 index 0000000..8eca94c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-candle.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-carrot.yaml new file mode 100644 index 0000000..10b6cc6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-carrot.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chess.yaml new file mode 100644 index 0000000..59e468b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chess.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..419ce2b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chicken_leg.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chili.yaml new file mode 100644 index 0000000..88661d2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chili.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..314c81b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-chinese_chess.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-clock.yaml new file mode 100644 index 0000000..4840408 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-clock.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-conch.yaml new file mode 100644 index 0000000..3f7d097 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-conch.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-corn.yaml new file mode 100644 index 0000000..d6c225e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-corn.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..c6943af --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cucumber.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cup.yaml new file mode 100644 index 0000000..5de4fab --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-cup.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..251e4d2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dinosaur.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dish.yaml new file mode 100644 index 0000000..e6651a8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dish.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-donut.yaml new file mode 100644 index 0000000..91b06c1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-donut.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..9d5d4f3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-dumpling.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg.yaml new file mode 100644 index 0000000..5192e34 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..51aae22 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-egg_tart.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-eraser.yaml new file mode 100644 index 0000000..88ad8d4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-eraser.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..25459c2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-facial_cream.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..dd73b79 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-flash_light.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..960b286 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-garage_kit.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-garlic.yaml new file mode 100644 index 0000000..cbfe9e9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-garlic.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-glasses.yaml new file mode 100644 index 0000000..0fc6804 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-glasses.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..c76397e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-glasses_case.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..25faf17 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hair_dryer.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..11bb7e7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hamburger.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hammer.yaml new file mode 100644 index 0000000..1d8a795 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hammer.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..fde6242 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hand_cream.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..2876f65 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-hot_dog.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-knife.yaml new file mode 100644 index 0000000..a3979ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-knife.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lemon.yaml new file mode 100644 index 0000000..4f087c6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lemon.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..aba3b71 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lipstick.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..b46ceaa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-lotus_root.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mango.yaml new file mode 100644 index 0000000..0dbfbdb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mango.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..354f604 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mangosteen.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..9837988 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-medicine_bottle.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..d8c3431 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mooncake.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mouse.yaml new file mode 100644 index 0000000..988e7d1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mouse.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mug.yaml new file mode 100644 index 0000000..08b0490 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-mug.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-onion.yaml new file mode 100644 index 0000000..524654e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-onion.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-orange.yaml new file mode 100644 index 0000000..27ef7c0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-orange.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pastry.yaml new file mode 100644 index 0000000..776df13 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pastry.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-peach.yaml new file mode 100644 index 0000000..5d803e0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-peach.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pear.yaml new file mode 100644 index 0000000..ebe01ae --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pear.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pen.yaml new file mode 100644 index 0000000..ebeacd2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pen.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..2b88401 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pineapple.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..b670eb9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pitaya.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..fda77c9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-pomegranate.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..e617a2c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-power_strip.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-razor.yaml new file mode 100644 index 0000000..6d5fce6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-razor.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..a10f1ee --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-red_wine_glass.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..95657cb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-remote_control.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..e07eae2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-rubik_cube.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-sausage.yaml new file mode 100644 index 0000000..db1b4f5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-sausage.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-scissor.yaml new file mode 100644 index 0000000..cf565b7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-scissor.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..7af41f6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shampoo.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shoe.yaml new file mode 100644 index 0000000..8bc4b19 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shoe.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..754491d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-shrimp.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-soap.yaml new file mode 100644 index 0000000..a211825 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-soap.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-spanner.yaml new file mode 100644 index 0000000..b877575 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-spanner.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-starfish.yaml new file mode 100644 index 0000000..c814393 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-starfish.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..38fc66c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-sweet_potato.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..25c7d34 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-table_tennis_bat.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..1f2707c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tape_measure.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-teapot.yaml new file mode 100644 index 0000000..fd6cfe7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-teapot.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-timer.yaml new file mode 100644 index 0000000..a651ba8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-timer.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tissue.yaml new file mode 100644 index 0000000..3732149 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tissue.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tomato.yaml new file mode 100644 index 0000000..3a1038e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tomato.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..9ad419c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tooth_brush.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..427157d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-tooth_paste.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..4644a51 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_animals.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..904cdf9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_boat.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..246eb05 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_bus.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..17ae961 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_car.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..305a303 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_motorcycle.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..a248867 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_plane.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..b744d28 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_plant.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..b7dd0b6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_train.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..fe41bb8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-toy_truck.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..0f79bb8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-umbrella.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-waffle.yaml new file mode 100644 index 0000000..9551493 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-waffle.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-watch.yaml new file mode 100644 index 0000000..74f8b7b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-watch.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-whistle.yaml new file mode 100644 index 0000000..e839406 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-whistle.yaml @@ -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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-can.yaml new file mode 100644 index 0000000..60a1a5d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-can.yaml @@ -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/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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/phocal-can" + 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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..b969580 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-red_wine_glass.yaml @@ -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/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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/phocal-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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-spoon.yaml new file mode 100644 index 0000000..45045e9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/phocal-spoon.yaml @@ -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/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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/phocal-spoon" + 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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/real-camera.yaml new file mode 100644 index 0000000..2b730b2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/real-camera.yaml @@ -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/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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/real-camera" + 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 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-brush.yaml new file mode 100644 index 0000000..11c638d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-brush.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/functional-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.00, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/left/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 140] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..f43f0d6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hair_dryer.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/functional-pick-assets/omniobject3d-hair_dryer/omniobject3d-hair_dryer_001/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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.00, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/left/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 140] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hammer.yaml index 6dec171..84fbbee 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hammer.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/omniobject3d-hammer.yaml @@ -31,7 +31,7 @@ tasks: objects: - name: pick_object_left - path: pick_and_place/functional-pick-assets/omniobject3d-hammer/omniobject3d-hammer_003/Aligned_obj.usd + path: pick_and_place/functional-pick-assets/omniobject3d-hammer/omniobject3d-hammer_001/Aligned_obj.usd target_class: RigidObject dataset: oo3d category: "omniobject3d-hammer" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..294b6a9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/phocal-red_wine_glass.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/functional-pick-assets/phocal-red_wine_glass/omniobject3d-red_wine_glass_012/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.00, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/left/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 140] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/teapot.yaml new file mode 100644 index 0000000..571242c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/left/teapot.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/functional-pick-assets/teapot/phocal-teapot_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.00, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/left/teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 140] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-brush.yaml new file mode 100644 index 0000000..c70d21c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-brush.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/functional-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/right/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 50] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..4a8cdc0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hair_dryer.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/functional-pick-assets/omniobject3d-hair_dryer/omniobject3d-hair_dryer_001/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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/right/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 50] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hammer.yaml index 4a1840e..b012b4c 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hammer.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/omniobject3d-hammer.yaml @@ -31,7 +31,7 @@ tasks: objects: - name: pick_object_right - path: pick_and_place/functional-pick-assets/omniobject3d-hammer/omniobject3d-hammer_003/Aligned_obj.usd + path: pick_and_place/functional-pick-assets/omniobject3d-hammer/omniobject3d-hammer_001/Aligned_obj.usd target_class: RigidObject dataset: oo3d category: "omniobject3d-hammer" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..ab9f2c8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/phocal-red_wine_glass.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/functional-pick-assets/phocal-red_wine_glass/omniobject3d-red_wine_glass_012/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/right/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 50] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/teapot.yaml new file mode 100644 index 0000000..a868d27 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_func_pick/right/teapot.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/functional-pick-assets/teapot/phocal-teapot_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_func_pick/right/teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm functionally." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm functionally and lift." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 50] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/google_scan-handbag.yaml new file mode 100644 index 0000000..938b194 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/google_scan-handbag.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/google_scan-hat.yaml new file mode 100644 index 0000000..9ba5012 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/google_scan-hat.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..8cf4343 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-asparagus.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-ball.yaml new file mode 100644 index 0000000..cd4e671 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-ball.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..68e18f0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-banana.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-banana.yaml new file mode 100644 index 0000000..468e97f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-banana.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/omniobject3d-banana/omniobject3d-banana_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "omniobject3d-banana" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-banana" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-battery.yaml new file mode 100644 index 0000000..e5106e0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-battery.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-belt.yaml new file mode 100644 index 0000000..2dc5af7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-belt.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bottle.yaml new file mode 100644 index 0000000..195fa4f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bottle.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bowl.yaml new file mode 100644 index 0000000..17a7eb4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bowl.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-box.yaml new file mode 100644 index 0000000..7ee0829 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-box.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..e7c0cd2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bread.yaml new file mode 100644 index 0000000..202cc5a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-bread.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-brush.yaml new file mode 100644 index 0000000..c7ecaab --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-brush.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cake.yaml new file mode 100644 index 0000000..4c73e2d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cake.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-calculator.yaml new file mode 100644 index 0000000..85eb649 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-calculator.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-candle.yaml new file mode 100644 index 0000000..49887c8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-candle.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-carrot.yaml new file mode 100644 index 0000000..92cd52a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-carrot.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chess.yaml new file mode 100644 index 0000000..bf0213e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chess.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..53479cc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chicken_leg.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chili.yaml new file mode 100644 index 0000000..7222818 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chili.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..0fec172 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-chinese_chess.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-clock.yaml new file mode 100644 index 0000000..bebd711 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-clock.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-conch.yaml new file mode 100644 index 0000000..a5280e1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-conch.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-corn.yaml new file mode 100644 index 0000000..554aac0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-corn.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..a71ed6d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cucumber.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cup.yaml new file mode 100644 index 0000000..910dcd8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-cup.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..082c2d8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dinosaur.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dish.yaml new file mode 100644 index 0000000..c95e64f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dish.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-donut.yaml new file mode 100644 index 0000000..b704a72 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-donut.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..db26f73 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-dumpling.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-egg.yaml new file mode 100644 index 0000000..b13e03f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-egg.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..073cb39 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-egg_tart.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-eraser.yaml new file mode 100644 index 0000000..f606fcd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-eraser.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..6c14a7d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-facial_cream.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..fcee59c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-flash_light.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..5eb2eb1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-garage_kit.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-garlic.yaml new file mode 100644 index 0000000..26206c5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-garlic.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-glasses.yaml new file mode 100644 index 0000000..376681f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-glasses.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..a1c2421 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-glasses_case.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..0889c71 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hair_dryer.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..5497f2e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hamburger.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hammer.yaml new file mode 100644 index 0000000..bb29ff7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hammer.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..b6ca764 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hand_cream.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..02b5d11 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-hot_dog.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-knife.yaml new file mode 100644 index 0000000..7064141 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-knife.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..a7379b0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-lipstick.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..4a66de7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-lotus_root.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mango.yaml new file mode 100644 index 0000000..e11842c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mango.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..2f90dca --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mangosteen.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..eda1a55 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..1a79019 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mooncake.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mouse.yaml new file mode 100644 index 0000000..57273ea --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mouse.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mug.yaml new file mode 100644 index 0000000..e91d1f9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-mug.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-onion.yaml new file mode 100644 index 0000000..ec50131 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-onion.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-orange.yaml new file mode 100644 index 0000000..c962122 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-orange.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pastry.yaml new file mode 100644 index 0000000..7eb5894 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pastry.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-peach.yaml new file mode 100644 index 0000000..4c8a768 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-peach.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pear.yaml new file mode 100644 index 0000000..a393f9f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pear.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pen.yaml new file mode 100644 index 0000000..341c082 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pen.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..963a563 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pineapple.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..9c76446 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pitaya.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..b156f31 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-pomegranate.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..453da1c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-power_strip.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-razor.yaml new file mode 100644 index 0000000..d9c2103 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-razor.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..b49743d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..0d468c0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-remote_control.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..2365d0e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-rubik_cube.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-sausage.yaml new file mode 100644 index 0000000..2287b6b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-sausage.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-scissor.yaml new file mode 100644 index 0000000..26203d1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-scissor.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..6f789ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shampoo.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shoe.yaml new file mode 100644 index 0000000..69649fb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shoe.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..ddfab3c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-shrimp.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-soap.yaml new file mode 100644 index 0000000..f387ab1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-soap.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-spanner.yaml new file mode 100644 index 0000000..ffab8a5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-spanner.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-starfish.yaml new file mode 100644 index 0000000..c0728ac --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-starfish.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..d2927da --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-sweet_potato.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..ba413f2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..5797fce --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tape_measure.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-teapot.yaml new file mode 100644 index 0000000..fd3191c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-teapot.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-timer.yaml new file mode 100644 index 0000000..bc15ed8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-timer.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tissue.yaml new file mode 100644 index 0000000..fb3e590 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tissue.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tomato.yaml new file mode 100644 index 0000000..e22e4f3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tomato.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..335cafa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tooth_brush.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..e219b42 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-tooth_paste.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..44ca136 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_animals.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..1e242d1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_boat.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..236fc24 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_bus.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..3d54bb2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_car.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..fc5a505 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..c61c224 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_plane.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..f458953 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_plant.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..7c97a6a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_train.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..f2347c5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-toy_truck.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..20de704 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-umbrella.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-waffle.yaml new file mode 100644 index 0000000..729a0ad --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-waffle.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-watch.yaml new file mode 100644 index 0000000..7f3f30f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-watch.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-whistle.yaml new file mode 100644 index 0000000..7d005bf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/omniobject3d-whistle.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-can.yaml new file mode 100644 index 0000000..ae56f2e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-can.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..847153d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-red_wine_glass.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-spoon.yaml new file mode 100644 index 0000000..a5bf87d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/phocal-spoon.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/real-camera.yaml new file mode 100644 index 0000000..9477d87 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/left/real-camera.yaml @@ -0,0 +1,140 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.25, -0.16, 0.0], + [0.15, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/left/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/google_scan-handbag.yaml new file mode 100644 index 0000000..fb85c37 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/google_scan-handbag.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/google_scan-hat.yaml new file mode 100644 index 0000000..a718b0c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/google_scan-hat.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..08baaaf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-asparagus.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-ball.yaml new file mode 100644 index 0000000..b422613 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-ball.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..7df464a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-banana.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-banana.yaml new file mode 100644 index 0000000..ebe5ea3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-banana.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/omniobject3d-banana/omniobject3d-banana_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "omniobject3d-banana" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-banana" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-battery.yaml new file mode 100644 index 0000000..b010c9b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-battery.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-belt.yaml new file mode 100644 index 0000000..87ac5ca --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-belt.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bottle.yaml new file mode 100644 index 0000000..d101eaa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bottle.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bowl.yaml new file mode 100644 index 0000000..ec6e301 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bowl.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-box.yaml new file mode 100644 index 0000000..10d09ad --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-box.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..7efe9f2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bread.yaml new file mode 100644 index 0000000..5468e45 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-bread.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-brush.yaml new file mode 100644 index 0000000..f3fd6ee --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-brush.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cake.yaml new file mode 100644 index 0000000..0ef63b4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cake.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-calculator.yaml new file mode 100644 index 0000000..0b5501a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-calculator.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-candle.yaml new file mode 100644 index 0000000..de21d0a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-candle.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-carrot.yaml new file mode 100644 index 0000000..89fb04d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-carrot.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chess.yaml new file mode 100644 index 0000000..d41cf53 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chess.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..64d09d2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chicken_leg.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chili.yaml new file mode 100644 index 0000000..ea42f44 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chili.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..b798016 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-chinese_chess.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-clock.yaml new file mode 100644 index 0000000..d029361 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-clock.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-conch.yaml new file mode 100644 index 0000000..1cacb77 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-conch.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-corn.yaml new file mode 100644 index 0000000..5e2a4e3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-corn.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..17909ab --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cucumber.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cup.yaml new file mode 100644 index 0000000..3be8e40 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-cup.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..d1017c7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dinosaur.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dish.yaml new file mode 100644 index 0000000..124bffa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dish.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-donut.yaml new file mode 100644 index 0000000..1fb4f9b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-donut.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..9890c7b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-dumpling.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-egg.yaml new file mode 100644 index 0000000..21fa3e5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-egg.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..8b108ef --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-egg_tart.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-eraser.yaml new file mode 100644 index 0000000..12f1a55 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-eraser.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..e2ff167 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-facial_cream.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..f766193 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-flash_light.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..300ca2d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-garage_kit.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-garlic.yaml new file mode 100644 index 0000000..3e0150b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-garlic.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-glasses.yaml new file mode 100644 index 0000000..f2694b7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-glasses.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..0cef28a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-glasses_case.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..b0a4ba0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hair_dryer.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..c8f1af9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hamburger.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hammer.yaml new file mode 100644 index 0000000..f380386 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hammer.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..f0c678a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hand_cream.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..c8e3982 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-hot_dog.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-knife.yaml new file mode 100644 index 0000000..0261d23 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-knife.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lemon.yaml index 24924af..d86e021 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lemon.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lemon.yaml @@ -31,7 +31,7 @@ tasks: objects: - name: pick_object_right - path: pick_and_place/pre-train-pick/assets/omniobject3d-lemon/xxx/xxx.usd + path: pick_and_place/pre-train-pick/assets/omniobject3d-lemon/omniobject3d-lemon_001/Aligned_obj.usd target_class: RigidObject dataset: oo3d category: "omniobject3d-lemon" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..179f9bf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lipstick.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..ee6943d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-lotus_root.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mango.yaml new file mode 100644 index 0000000..a834851 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mango.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..9d10c7c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mangosteen.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..b601cf1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..4fa571d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mooncake.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mouse.yaml new file mode 100644 index 0000000..03139d7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mouse.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mug.yaml new file mode 100644 index 0000000..6caa2ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-mug.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-onion.yaml new file mode 100644 index 0000000..9c07411 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-onion.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-orange.yaml new file mode 100644 index 0000000..346e703 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-orange.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pastry.yaml new file mode 100644 index 0000000..3a7e33a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pastry.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-peach.yaml new file mode 100644 index 0000000..7ad13d1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-peach.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pear.yaml new file mode 100644 index 0000000..7850409 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pear.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pen.yaml new file mode 100644 index 0000000..4e024d8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pen.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..93f3b9c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pineapple.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..ab2e60c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pitaya.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..47f6993 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-pomegranate.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..4fdfbc7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-power_strip.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-razor.yaml new file mode 100644 index 0000000..f62fbc8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-razor.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..60e44a3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..7f1d069 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-remote_control.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..9d3a4ab --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-rubik_cube.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-sausage.yaml new file mode 100644 index 0000000..9ff9608 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-sausage.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-scissor.yaml new file mode 100644 index 0000000..fb5e230 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-scissor.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..aad23e3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shampoo.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shoe.yaml new file mode 100644 index 0000000..95da2be --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shoe.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..883c365 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-shrimp.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-soap.yaml new file mode 100644 index 0000000..4af1a52 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-soap.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-spanner.yaml new file mode 100644 index 0000000..ca62f48 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-spanner.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-starfish.yaml new file mode 100644 index 0000000..206fb81 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-starfish.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..42d1dfd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-sweet_potato.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..1bac013 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..70e0ddc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tape_measure.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-teapot.yaml new file mode 100644 index 0000000..c882451 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-teapot.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-timer.yaml new file mode 100644 index 0000000..8f6ccac --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-timer.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tissue.yaml new file mode 100644 index 0000000..b9c3081 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tissue.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tomato.yaml new file mode 100644 index 0000000..a7f93b0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tomato.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..42225ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tooth_brush.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..c71ff9a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-tooth_paste.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..b09bc79 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_animals.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..ab60440 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_boat.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..3c6827b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_bus.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..baf1c5b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_car.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..58c47e0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..cc505d0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_plane.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..11a0523 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_plant.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..feb9308 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_train.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..f326420 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-toy_truck.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..7b6be45 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-umbrella.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-waffle.yaml new file mode 100644 index 0000000..cbf753b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-waffle.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-watch.yaml new file mode 100644 index 0000000..31a8437 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-watch.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-whistle.yaml new file mode 100644 index 0000000..07d79eb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/omniobject3d-whistle.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-can.yaml new file mode 100644 index 0000000..4945166 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-can.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..f121536 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-red_wine_glass.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-spoon.yaml new file mode 100644 index 0000000..23ce7b3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/phocal-spoon.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/real-camera.yaml new file mode 100644 index 0000000..8b48d39 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pick/right/real-camera.yaml @@ -0,0 +1,139 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + # optimize_2d_layout: True + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.25, 0.0, 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, -0.85, -0.85], + [0.0, -0.80, -0.73] + ] + 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], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pick/right/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 300 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 130] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135] + pre_grasp_offset: 0.05 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + # return_to_pregrasp: True diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/google_scan-handbag.yaml new file mode 100644 index 0000000..fd5a21f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/google_scan-handbag.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/google_scan-hat.yaml new file mode 100644 index 0000000..b46cfb6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/google_scan-hat.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..893abc4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-asparagus.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-ball.yaml new file mode 100644 index 0000000..bdb5583 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-ball.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..9c514fc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-battery.yaml new file mode 100644 index 0000000..81ace14 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-battery.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-belt.yaml new file mode 100644 index 0000000..442944b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-belt.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bottle.yaml new file mode 100644 index 0000000..cc94f17 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bottle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bowl.yaml new file mode 100644 index 0000000..b1e8b68 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bowl.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-box.yaml new file mode 100644 index 0000000..e42ca3c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-box.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..dd8b641 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bread.yaml new file mode 100644 index 0000000..03d4514 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-bread.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-brush.yaml new file mode 100644 index 0000000..015128e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-brush.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cake.yaml new file mode 100644 index 0000000..0f3009d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cake.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-calculator.yaml new file mode 100644 index 0000000..4d2574c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-calculator.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-candle.yaml new file mode 100644 index 0000000..0f3c9bd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-candle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-carrot.yaml new file mode 100644 index 0000000..feb301b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-carrot.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chess.yaml new file mode 100644 index 0000000..d81f0b0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chess.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..b4227c4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chicken_leg.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chili.yaml new file mode 100644 index 0000000..fb6b6d0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chili.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..06d0326 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-chinese_chess.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-clock.yaml new file mode 100644 index 0000000..b308d80 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-clock.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-conch.yaml new file mode 100644 index 0000000..ea2c4e1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-conch.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-corn.yaml new file mode 100644 index 0000000..d2d15cb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-corn.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..bce4e40 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cucumber.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cup.yaml new file mode 100644 index 0000000..3336986 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-cup.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..ccacb40 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dinosaur.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dish.yaml new file mode 100644 index 0000000..b70bd26 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dish.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-donut.yaml new file mode 100644 index 0000000..5fc6bf9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-donut.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..615e458 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-dumpling.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-egg.yaml new file mode 100644 index 0000000..1d47f4d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-egg.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..e329cf2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-egg_tart.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-eraser.yaml new file mode 100644 index 0000000..82bc64a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-eraser.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..bb4d647 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-facial_cream.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..e1890f8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-flash_light.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..45c89f8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-garage_kit.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-garlic.yaml new file mode 100644 index 0000000..e60c44c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-garlic.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-glasses.yaml new file mode 100644 index 0000000..4ca785c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-glasses.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..e00048a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-glasses_case.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..91c6229 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hair_dryer.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..cffa88c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hamburger.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hammer.yaml new file mode 100644 index 0000000..d4d5b77 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hammer.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..0a7d2b6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hand_cream.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..dcfc7b1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-hot_dog.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-knife.yaml new file mode 100644 index 0000000..645c16d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-knife.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lemon.yaml new file mode 100644 index 0000000..2c9a6b9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lemon.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-lemon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..b077840 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lipstick.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..6ec0cdc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-lotus_root.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mango.yaml new file mode 100644 index 0000000..32ba074 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mango.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..a8fbeee --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mangosteen.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..130eedf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..99d27af --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mooncake.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mouse.yaml new file mode 100644 index 0000000..6f225d1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mouse.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mug.yaml new file mode 100644 index 0000000..b737b35 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-mug.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-onion.yaml new file mode 100644 index 0000000..4bd0e2b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-onion.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-orange.yaml new file mode 100644 index 0000000..9b85625 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-orange.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pastry.yaml new file mode 100644 index 0000000..024c42f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pastry.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-peach.yaml new file mode 100644 index 0000000..11b5505 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-peach.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pear.yaml new file mode 100644 index 0000000..3bd4cab --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pear.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pen.yaml new file mode 100644 index 0000000..18d9f1f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pen.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..6992727 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pineapple.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..b0ec8cb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pitaya.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..4789036 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-pomegranate.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..76a6dc0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-power_strip.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-razor.yaml new file mode 100644 index 0000000..937844a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-razor.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..d7b11da --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..71b6553 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-remote_control.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..28ae586 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-rubik_cube.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-sausage.yaml new file mode 100644 index 0000000..e243e67 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-sausage.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-scissor.yaml new file mode 100644 index 0000000..a3c84cb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-scissor.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..3672f91 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shampoo.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shoe.yaml new file mode 100644 index 0000000..9e58714 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shoe.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..b5e6171 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-shrimp.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-soap.yaml new file mode 100644 index 0000000..7ca7d2d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-soap.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-spanner.yaml new file mode 100644 index 0000000..f3b7223 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-spanner.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-starfish.yaml new file mode 100644 index 0000000..0027f85 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-starfish.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..5e6d0fe --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-sweet_potato.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..e151318 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..28535ef --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tape_measure.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-teapot.yaml new file mode 100644 index 0000000..6bb5e46 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-teapot.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-timer.yaml new file mode 100644 index 0000000..507e994 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-timer.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tissue.yaml new file mode 100644 index 0000000..e1ad9b4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tissue.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tomato.yaml new file mode 100644 index 0000000..02bc0a8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tomato.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..90cf629 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tooth_brush.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..d9a99c7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-tooth_paste.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..c1924d1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_animals.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..d0b9fca --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_boat.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..dfc5251 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_bus.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..6a7180f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_car.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..bdcd3cc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..3efc0fc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_plane.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..e569480 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_plant.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..634363d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_train.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..24958c3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-toy_truck.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..3ed9137 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-umbrella.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-waffle.yaml new file mode 100644 index 0000000..4c08436 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-waffle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-watch.yaml new file mode 100644 index 0000000..b41f3d9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-watch.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-whistle.yaml new file mode 100644 index 0000000..8ea5685 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/omniobject3d-whistle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-can.yaml new file mode 100644 index 0000000..fc17d50 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-can.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..58242c4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-red_wine_glass.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-spoon.yaml new file mode 100644 index 0000000..40fb7a9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/phocal-spoon.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/real-camera.yaml new file mode 100644 index 0000000..b895f56 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/left/real-camera.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_left + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.1, -0.16, 0.0], + [0.15, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_left + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.35, 0.14, 0.0], + [-0.23, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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: [ + [-0.2, -0.35], + [0.6, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/left/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the left robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + left: + - + name: pick + objects: [pick_object_left] + # filter_x_dir: ["backward", 110] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["backward", 135] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_left, gso_box_left] + position_constraint: object + # filter_x_dir: ["backward", 60] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.35, 0.7] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/google_scan-handbag.yaml new file mode 100644 index 0000000..40809e6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/google_scan-handbag.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/google_scan-hat.yaml new file mode 100644 index 0000000..73eaf5e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/google_scan-hat.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..1372c8d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-asparagus.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-ball.yaml new file mode 100644 index 0000000..e889fc1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-ball.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..0493414 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-battery.yaml new file mode 100644 index 0000000..e29a523 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-battery.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-belt.yaml new file mode 100644 index 0000000..8b563e0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-belt.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bottle.yaml new file mode 100644 index 0000000..bd98c2e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bottle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bowl.yaml new file mode 100644 index 0000000..edfc364 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bowl.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-box.yaml new file mode 100644 index 0000000..c4a5ea4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-box.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..22e6118 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bread.yaml new file mode 100644 index 0000000..0904d66 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-bread.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-brush.yaml new file mode 100644 index 0000000..7cb4594 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-brush.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cake.yaml new file mode 100644 index 0000000..682e984 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cake.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-calculator.yaml new file mode 100644 index 0000000..a263412 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-calculator.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-candle.yaml new file mode 100644 index 0000000..9daa07c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-candle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-carrot.yaml new file mode 100644 index 0000000..fd7ac67 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-carrot.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chess.yaml new file mode 100644 index 0000000..3e9fef1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chess.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..99f02e7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chicken_leg.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chili.yaml new file mode 100644 index 0000000..2560d5e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chili.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..d07905e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-chinese_chess.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-clock.yaml new file mode 100644 index 0000000..500811e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-clock.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-conch.yaml new file mode 100644 index 0000000..2117187 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-conch.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-corn.yaml new file mode 100644 index 0000000..8a3dad0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-corn.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..e38a954 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cucumber.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cup.yaml new file mode 100644 index 0000000..168cbfc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-cup.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..e5d7b02 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dinosaur.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dish.yaml new file mode 100644 index 0000000..45cf60d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dish.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-donut.yaml new file mode 100644 index 0000000..f30f561 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-donut.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..93a1cde --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-dumpling.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-egg.yaml new file mode 100644 index 0000000..3fa0a26 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-egg.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..af070e0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-egg_tart.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-eraser.yaml new file mode 100644 index 0000000..82bc265 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-eraser.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..796c70c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-facial_cream.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..38585b7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-flash_light.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..636d80a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-garage_kit.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-garlic.yaml new file mode 100644 index 0000000..a5d1f88 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-garlic.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-glasses.yaml new file mode 100644 index 0000000..6783c4f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-glasses.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..bad7aed --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-glasses_case.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..9d6c820 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hair_dryer.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..7ddc7a9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hamburger.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hammer.yaml new file mode 100644 index 0000000..2f05093 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hammer.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..fa9db1e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hand_cream.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..6ade7d3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-hot_dog.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-knife.yaml new file mode 100644 index 0000000..5994079 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-knife.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lemon.yaml new file mode 100644 index 0000000..677127a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lemon.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-lemon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..d6fab2a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lipstick.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..0f54111 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-lotus_root.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mango.yaml new file mode 100644 index 0000000..7d634fa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mango.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..a736143 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mangosteen.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..f81b96f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..95c8b3b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mooncake.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mouse.yaml new file mode 100644 index 0000000..1ff73bd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mouse.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mug.yaml new file mode 100644 index 0000000..35fdbff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-mug.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-onion.yaml new file mode 100644 index 0000000..37c48eb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-onion.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-orange.yaml new file mode 100644 index 0000000..491c667 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-orange.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pastry.yaml new file mode 100644 index 0000000..896ac77 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pastry.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-peach.yaml new file mode 100644 index 0000000..e4ab863 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-peach.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pear.yaml new file mode 100644 index 0000000..c9c6ca9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pear.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pen.yaml new file mode 100644 index 0000000..29a6d45 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pen.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..03aaf5a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pineapple.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..b1bc0c7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pitaya.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..94d1364 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-pomegranate.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..d030ca5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-power_strip.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-razor.yaml new file mode 100644 index 0000000..bbb2350 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-razor.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..f07769c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..68f9493 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-remote_control.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..34472c8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-rubik_cube.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-sausage.yaml new file mode 100644 index 0000000..1a622c2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-sausage.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-scissor.yaml new file mode 100644 index 0000000..84ea707 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-scissor.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..cc36830 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shampoo.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shoe.yaml new file mode 100644 index 0000000..e56dc8a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shoe.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..5465a2d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-shrimp.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-soap.yaml new file mode 100644 index 0000000..81ede18 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-soap.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-spanner.yaml new file mode 100644 index 0000000..9b362cd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-spanner.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-starfish.yaml new file mode 100644 index 0000000..5182399 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-starfish.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..c1a4fdc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-sweet_potato.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..2c15f62 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..3d5cdcb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tape_measure.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-teapot.yaml new file mode 100644 index 0000000..342faec --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-teapot.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-timer.yaml new file mode 100644 index 0000000..ed5f650 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-timer.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tissue.yaml new file mode 100644 index 0000000..ab57066 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tissue.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tomato.yaml new file mode 100644 index 0000000..be23fe2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tomato.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..ef707c6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tooth_brush.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..614fe05 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-tooth_paste.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..41cf8c0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_animals.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..8405bea --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_boat.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..0b2664a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_bus.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..06d196f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_car.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..c67828a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..1b480f0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_plane.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..e0f1785 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_plant.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..bfe06bd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_train.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..64c692f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-toy_truck.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..434d3d4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-umbrella.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-waffle.yaml new file mode 100644 index 0000000..3d33542 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-waffle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-watch.yaml new file mode 100644 index 0000000..06e483c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-watch.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-whistle.yaml new file mode 100644 index 0000000..39ae275 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/omniobject3d-whistle.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-can.yaml new file mode 100644 index 0000000..f76a8ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-can.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..9bd1c7c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-red_wine_glass.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-spoon.yaml new file mode 100644 index 0000000..6aa2f31 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/phocal-spoon.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/real-camera.yaml new file mode 100644 index 0000000..d85905d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/genie1/single_pnp/right/real-camera.yaml @@ -0,0 +1,180 @@ +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_clean_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: "genie1" + robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml + euler: [0.0, 0.0, 90.0] + # constrain_grasp_approach: True + ignore_substring: ["material", "table"] + use_batch: True + collision_activation_distance: 0.05 + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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] #[1, 1, 1] # + apply_randomization: True + orientation_mode: "suggested" + optimize_2d_layout: True + + - + name: gso_box_right + path: pick_and_place/g1_pnp_basket/basket/basket_22/Aligned_obj.usd + # basket/basket_01/Aligned_obj.usd + target_class: RigidObject + dataset: gso + category: box + prim_path_child: Aligned + translation: [0.0, 0.0, 0.0] + euler: [90.0, 0.0, 0.0] + scale: [0.8, 0.25, 0.8] + apply_randomization: True + orientation_mode: "suggested" + + regions: + - + object: pick_object_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.15, -0.16, 0.0], + [0.1, 0.0, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + + - + object: gso_box_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.23, 0.14, 0.0], + [0.35, 0.20, 0.0] + ] + yaw_rotation: [-10.0, 10.0] + + - + object: ${tasks.0.robots.0.name} + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [0.0, -0.85, -0.85], + [0.0, -0.80, -0.76] + ] + 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], + [0.2, 0.35] + ] + min_object_distance: 0.05 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle"] + + cameras: + - + name: ${tasks.0.robots.0.name}_hand_left + translation: [-0.01, -0.07, 0.08] + orientation: [0.191, 0.981, 0.003, 0.017] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + + parent: "${tasks.0.robots.0.name}/gripper_l_base_link" # todo + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_hand_right + translation: [0.015, 0.094, 0.07] + orientation: [0.0, 0.0, 0.974, 0.225] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml + parent: "${tasks.0.robots.0.name}/gripper_r_base_link" + apply_randomization: False + - + name: ${tasks.0.robots.0.name}_head + translation: [0.05, -0.05, -0.0] + orientation: [0.0, 0.697, 0.0128, -0.717] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "${tasks.0.robots.0.name}/head_link2" + + data: + task_dir: "single_pnp/right/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right arm and place it in the basket." + detailed_language_instruction: "Pick up the ${tasks.0.objects.0.name} with the right robotic arm and place it in the basket." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 450 + + skills: + - + genie1: + - + right: + - + name: pick + objects: [pick_object_right] + # filter_x_dir: ["forward", 70] + # filter_y_dir: ["backward", 100] + # filter_z_dir: ["downward", 90] + filter_x_dir: ["forward", 45] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 135, 45] + pre_grasp_offset: 0.0 + gripper_change_steps: 20 + t_eps: 0.01 + o_eps: 1 + process_valid: True + lift_th: 0.0 + post_grasp_offset_min: 0.0 + post_grasp_offset_max: 0.0 + + - + name: place + objects: [pick_object_right, gso_box_right] + position_constraint: object + # filter_x_dir: ["forward", 120] + # filter_y_dir: ["downward", 85] + filter_x_dir: ["backward", 110] + filter_y_dir: ["downward", 120] + filter_z_dir: ["forward", 70] + x_ratio_range: [0.3, 0.65] + y_ratio_range: [0.3, 0.65] + success_mode: xybbox + pre_place_z_offset: 0.15 + place_z_offset: 0.15 + gripper_change_steps: 20 diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/google_scan-handbag.yaml new file mode 100644 index 0000000..6bc4123 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/google_scan-handbag.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/google_scan-hat.yaml new file mode 100644 index 0000000..c2ec5d3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/google_scan-hat.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..00b51b6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-asparagus.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-ball.yaml new file mode 100644 index 0000000..da69751 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-ball.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..0e54fb2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-battery.yaml new file mode 100644 index 0000000..5c1bb7f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-battery.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-belt.yaml new file mode 100644 index 0000000..ffd38b4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-belt.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bottle.yaml new file mode 100644 index 0000000..10a98aa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bottle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bowl.yaml new file mode 100644 index 0000000..9a6e629 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bowl.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-box.yaml new file mode 100644 index 0000000..d687601 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-box.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..f5be9a3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bread.yaml new file mode 100644 index 0000000..627e005 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-bread.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-brush.yaml new file mode 100644 index 0000000..10d72a5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-brush.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cake.yaml new file mode 100644 index 0000000..650d3e5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cake.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-calculator.yaml new file mode 100644 index 0000000..aac3ba4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-calculator.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-candle.yaml new file mode 100644 index 0000000..3e13f8d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-candle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-carrot.yaml new file mode 100644 index 0000000..364cfe8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-carrot.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chess.yaml new file mode 100644 index 0000000..6865e5f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chess.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..ba6504c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chicken_leg.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chili.yaml new file mode 100644 index 0000000..96155d3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chili.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..f02d7db --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-chinese_chess.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-clock.yaml new file mode 100644 index 0000000..9f23219 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-clock.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-conch.yaml new file mode 100644 index 0000000..47571ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-conch.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-corn.yaml new file mode 100644 index 0000000..2751274 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-corn.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..037eeb3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cucumber.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cup.yaml new file mode 100644 index 0000000..91059c8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-cup.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..799a9dc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dinosaur.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dish.yaml new file mode 100644 index 0000000..e7d7e69 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dish.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-donut.yaml new file mode 100644 index 0000000..4faa8ef --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-donut.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..86d5708 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-dumpling.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-egg.yaml new file mode 100644 index 0000000..03ab309 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-egg.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..672441d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-egg_tart.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-eraser.yaml new file mode 100644 index 0000000..d1aeedd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-eraser.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..3fed83b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-facial_cream.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..2e6f731 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-flash_light.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..66e2bbd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-garage_kit.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-garlic.yaml new file mode 100644 index 0000000..e3bee5e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-garlic.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-glasses.yaml new file mode 100644 index 0000000..e5eab90 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-glasses.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..72c663a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-glasses_case.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..b044481 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hair_dryer.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..f16d442 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hamburger.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hammer.yaml new file mode 100644 index 0000000..3a29b3a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hammer.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..a34a6fb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hand_cream.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..b8e68b1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-hot_dog.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-knife.yaml new file mode 100644 index 0000000..d963aff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-knife.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lemon.yaml new file mode 100644 index 0000000..9a52e0a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lemon.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-lemon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..4df9acc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lipstick.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..5fdbe64 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-lotus_root.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mango.yaml new file mode 100644 index 0000000..6b07b3c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mango.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..81b4d5d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mangosteen.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..e0b4f91 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..2e75785 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mooncake.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mouse.yaml new file mode 100644 index 0000000..ffed927 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mouse.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mug.yaml new file mode 100644 index 0000000..9cf3c58 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-mug.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-onion.yaml new file mode 100644 index 0000000..c93dd52 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-onion.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-orange.yaml new file mode 100644 index 0000000..f668d81 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-orange.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pastry.yaml new file mode 100644 index 0000000..e69917f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pastry.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-peach.yaml new file mode 100644 index 0000000..06eeb2f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-peach.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pear.yaml new file mode 100644 index 0000000..de53ae3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pear.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pen.yaml new file mode 100644 index 0000000..1f8b5c7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pen.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..c71a6ac --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pineapple.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..87eda82 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pitaya.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..159fc22 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-pomegranate.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..c2d4d46 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-power_strip.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-razor.yaml new file mode 100644 index 0000000..0b49583 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-razor.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..28ad4fd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..eac9c4e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-remote_control.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..ee9c48b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-rubik_cube.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-sausage.yaml new file mode 100644 index 0000000..30e2fbb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-sausage.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-scissor.yaml new file mode 100644 index 0000000..bbe5ee6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-scissor.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..a5ffcee --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shampoo.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shoe.yaml new file mode 100644 index 0000000..104c318 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shoe.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..8aa422d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-shrimp.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-soap.yaml new file mode 100644 index 0000000..41a3c01 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-soap.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-spanner.yaml new file mode 100644 index 0000000..b7b1446 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-spanner.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-starfish.yaml new file mode 100644 index 0000000..22a0821 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-starfish.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..97e999e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-sweet_potato.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..f4004c6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..0e3ecc9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tape_measure.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-teapot.yaml new file mode 100644 index 0000000..bfd6e05 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-teapot.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-timer.yaml new file mode 100644 index 0000000..ca2eec1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-timer.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tissue.yaml new file mode 100644 index 0000000..f919f9e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tissue.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tomato.yaml new file mode 100644 index 0000000..cea0700 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tomato.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..860d7a5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tooth_brush.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..a603a6e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-tooth_paste.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..a1a405b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_animals.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..1f0c6eb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_boat.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..0de0a65 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_bus.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..3003afd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_car.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..f89b2b6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..de680ac --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_plane.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..2d3e659 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_plant.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..56d97a3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_train.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..6c9aec8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-toy_truck.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..27fda4e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-umbrella.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-waffle.yaml new file mode 100644 index 0000000..af06dfd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-waffle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-watch.yaml new file mode 100644 index 0000000..6d93f19 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-watch.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-whistle.yaml new file mode 100644 index 0000000..2f1f400 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-whistle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-can.yaml new file mode 100644 index 0000000..9198c58 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-can.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..36665c4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-red_wine_glass.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-spoon.yaml new file mode 100644 index 0000000..19644af --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/phocal-spoon.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/real-camera.yaml new file mode 100644 index 0000000..47dba37 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/real-camera.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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: [ + [-0.35, -0.25, 0.0], + [0.05, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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, -0.2], + [0.6, 0.4] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + left: + - + name: pick + objects: [pick_object_left] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/google_scan-handbag.yaml new file mode 100644 index 0000000..9dd5dc6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/google_scan-handbag.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/google_scan-hat.yaml new file mode 100644 index 0000000..e4b7fb4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/google_scan-hat.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..309b2ad --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-asparagus.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-ball.yaml new file mode 100644 index 0000000..57e28c3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-ball.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..373e3fa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-banana.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-banana.yaml index 5f7a3df..95b8ae7 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-banana.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-banana.yaml @@ -35,7 +35,7 @@ tasks: objects: - name: pick_object_right - 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" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-battery.yaml new file mode 100644 index 0000000..a1b761c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-battery.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-belt.yaml new file mode 100644 index 0000000..7b8e20e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-belt.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bottle.yaml new file mode 100644 index 0000000..864a902 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bottle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bowl.yaml new file mode 100644 index 0000000..bda2f3a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bowl.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-box.yaml new file mode 100644 index 0000000..5e03d2a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-box.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..7b9e06e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bread.yaml new file mode 100644 index 0000000..e9aefe1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-bread.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-brush.yaml new file mode 100644 index 0000000..be7d205 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-brush.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cake.yaml new file mode 100644 index 0000000..4940602 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cake.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-calculator.yaml new file mode 100644 index 0000000..32f6bb9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-calculator.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-candle.yaml new file mode 100644 index 0000000..e3c48e1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-candle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-carrot.yaml new file mode 100644 index 0000000..67e6c4b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-carrot.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chess.yaml new file mode 100644 index 0000000..72c8a7e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chess.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..60a9678 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chicken_leg.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chili.yaml new file mode 100644 index 0000000..6b71540 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chili.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..c45ae56 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-chinese_chess.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-clock.yaml new file mode 100644 index 0000000..dfb0939 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-clock.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-conch.yaml new file mode 100644 index 0000000..52db831 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-conch.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-corn.yaml new file mode 100644 index 0000000..7842eca --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-corn.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..eb0e685 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cucumber.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cup.yaml new file mode 100644 index 0000000..3a8a3aa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-cup.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..5935899 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dinosaur.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dish.yaml new file mode 100644 index 0000000..19f9f07 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dish.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-donut.yaml new file mode 100644 index 0000000..f491542 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-donut.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..90ee1e1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-dumpling.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-egg.yaml new file mode 100644 index 0000000..041be74 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-egg.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..fc4830a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-egg_tart.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-eraser.yaml new file mode 100644 index 0000000..f239597 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-eraser.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..07b67d2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-facial_cream.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..485658b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-flash_light.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..f0f96a0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-garage_kit.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-garlic.yaml new file mode 100644 index 0000000..bc5b166 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-garlic.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-glasses.yaml new file mode 100644 index 0000000..45d38af --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-glasses.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..08c53d0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-glasses_case.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..01aa986 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hair_dryer.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..d8719b7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hamburger.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hammer.yaml new file mode 100644 index 0000000..eacbc70 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hammer.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..589de6f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hand_cream.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..c678621 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-hot_dog.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-knife.yaml new file mode 100644 index 0000000..f750035 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-knife.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lemon.yaml new file mode 100644 index 0000000..6a6ef99 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lemon.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-lemon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..d6d27ba --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lipstick.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..f34e5f7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-lotus_root.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mango.yaml new file mode 100644 index 0000000..8e76dd2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mango.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..855f946 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mangosteen.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..4111665 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..8176829 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mooncake.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mouse.yaml new file mode 100644 index 0000000..610eb41 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mouse.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mug.yaml new file mode 100644 index 0000000..513b734 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-mug.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-onion.yaml new file mode 100644 index 0000000..c893b7c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-onion.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-orange.yaml new file mode 100644 index 0000000..4eecf5f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-orange.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pastry.yaml new file mode 100644 index 0000000..92ab837 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pastry.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-peach.yaml new file mode 100644 index 0000000..8305d0a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-peach.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pear.yaml new file mode 100644 index 0000000..5c17011 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pear.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pen.yaml new file mode 100644 index 0000000..1378329 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pen.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..578075c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pineapple.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..a8220aa --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pitaya.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..c186c0e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-pomegranate.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..a0a905e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-power_strip.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-razor.yaml new file mode 100644 index 0000000..414c238 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-razor.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..5b9402c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..4ec6979 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-remote_control.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..8b7e26d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-rubik_cube.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-sausage.yaml new file mode 100644 index 0000000..bb8ede7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-sausage.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-scissor.yaml new file mode 100644 index 0000000..822a1b0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-scissor.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..fb4cb0d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shampoo.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shoe.yaml new file mode 100644 index 0000000..4f7d61d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shoe.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..67c1828 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-shrimp.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-soap.yaml new file mode 100644 index 0000000..c3c5b95 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-soap.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-spanner.yaml new file mode 100644 index 0000000..2e9fc21 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-spanner.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-starfish.yaml new file mode 100644 index 0000000..36589d0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-starfish.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..afc831c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-sweet_potato.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..6ace19b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..49b3fd1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tape_measure.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-teapot.yaml new file mode 100644 index 0000000..63c0ca6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-teapot.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-timer.yaml new file mode 100644 index 0000000..ab770a6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-timer.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tissue.yaml new file mode 100644 index 0000000..28bca68 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tissue.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tomato.yaml new file mode 100644 index 0000000..272bb7f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tomato.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..0fe6932 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tooth_brush.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..28a6ec2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-tooth_paste.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..6543fe5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_animals.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..7845543 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_boat.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..d87ae5e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_bus.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..5121838 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_car.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..681a0dd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..edec914 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_plane.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..546663f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_plant.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..3cec3a4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_train.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..4b6f6e7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-toy_truck.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..da9d275 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-umbrella.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-waffle.yaml new file mode 100644 index 0000000..4ee2ba9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-waffle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-watch.yaml new file mode 100644 index 0000000..5a9e9f6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-watch.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-whistle.yaml new file mode 100644 index 0000000..c88a4de --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/omniobject3d-whistle.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-can.yaml new file mode 100644 index 0000000..6aa6cbd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-can.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..35ae8bc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-red_wine_glass.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-spoon.yaml new file mode 100644 index 0000000..772be88 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/phocal-spoon.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/real-camera.yaml new file mode 100644 index 0000000..62b62d0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/right/real-camera.yaml @@ -0,0 +1,145 @@ +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: "lift2" + robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + right_joint_home: [-0.00059017, 0.00374724, 0.00516233, 0.00025332, -0.00105036, -0.00132419] + left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + # constrain_grasp_approach: True + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.35, 0.05, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: lift2 + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.80, -0.775], + [0.025, -0.80, -0.67] + ] + 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: [ + [-0.25, -0.2], + [0.6, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: lift2_hand_left + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_hand_right + translation: [0.07, 0.01, 0.08] + orientation: [0.62, 0.33, -0.33, -0.62] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml + parent: "lift2/lift2/lift2/fr/link6" + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: lift2_head + translation: [0.1, 0.02, 0.03] + orientation: [0.6602, 0.2534, -0.2534, -0.6602] + # translation: [0.46648, 0.05596, 0.65797] + # orientation: [0.69986, 0.09232, 0.10049, 0.70113] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "lift2/lift2/lift2/h_link6" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees" + update: True + max_episode_length: 500 + + skills: + - + lift2: + - + right: + - + name: pick + objects: [pick_object_right] + filter_z_dir: ["forward", 90] + filter_x_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/google_scan-handbag.yaml new file mode 100644 index 0000000..a5281be --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/google_scan-handbag.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/google_scan-hat.yaml new file mode 100644 index 0000000..000248e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/google_scan-hat.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..0e12994 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-asparagus.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-ball.yaml new file mode 100644 index 0000000..7127248 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-ball.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..f701b41 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-banana.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-banana.yaml index c645a47..610c2c2 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-banana.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-banana.yaml @@ -34,7 +34,7 @@ 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" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-battery.yaml new file mode 100644 index 0000000..0287a77 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-battery.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-belt.yaml new file mode 100644 index 0000000..3dacbf2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-belt.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bottle.yaml new file mode 100644 index 0000000..7f0701e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bottle.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bowl.yaml new file mode 100644 index 0000000..9ff2fe8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bowl.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-box.yaml new file mode 100644 index 0000000..882f726 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-box.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..27f2229 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bread.yaml new file mode 100644 index 0000000..09b2bec --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-bread.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-brush.yaml new file mode 100644 index 0000000..569b89f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-brush.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cake.yaml new file mode 100644 index 0000000..dea1ea7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cake.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-calculator.yaml new file mode 100644 index 0000000..fd7c470 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-calculator.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-candle.yaml new file mode 100644 index 0000000..18d4339 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-candle.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-carrot.yaml new file mode 100644 index 0000000..c1fb92f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-carrot.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chess.yaml new file mode 100644 index 0000000..a91b722 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chess.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..949a702 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chicken_leg.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chili.yaml new file mode 100644 index 0000000..8603da7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chili.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..8034cea --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-chinese_chess.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-clock.yaml new file mode 100644 index 0000000..dc2218d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-clock.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-conch.yaml new file mode 100644 index 0000000..a31548f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-conch.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-corn.yaml new file mode 100644 index 0000000..283562a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-corn.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..396d6f6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cucumber.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cup.yaml new file mode 100644 index 0000000..9ee6626 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-cup.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..db6a65b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dinosaur.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dish.yaml new file mode 100644 index 0000000..05ef9bf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dish.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-donut.yaml new file mode 100644 index 0000000..62af273 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-donut.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..a58e1e1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-dumpling.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-egg.yaml new file mode 100644 index 0000000..3eaa0d4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-egg.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..d0c8363 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-egg_tart.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-eraser.yaml new file mode 100644 index 0000000..198aa38 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-eraser.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..4899c41 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-facial_cream.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..46756e0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-flash_light.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..463cdab --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-garage_kit.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-garlic.yaml new file mode 100644 index 0000000..286c9a8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-garlic.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-glasses.yaml new file mode 100644 index 0000000..a5dff30 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-glasses.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..e9ea0a8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-glasses_case.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..aa28a94 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hair_dryer.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..fa5375f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hamburger.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hammer.yaml new file mode 100644 index 0000000..7cb08f5 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hammer.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..00f5f7b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hand_cream.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..2d3e3ea --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-hot_dog.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-knife.yaml new file mode 100644 index 0000000..60356d8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-knife.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lemon.yaml new file mode 100644 index 0000000..f6df1ac --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lemon.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-lemon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..988ea76 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lipstick.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..325068e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-lotus_root.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mango.yaml new file mode 100644 index 0000000..4a2bfe8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mango.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..76921d6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mangosteen.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..d6a8900 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..bb58cd9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mooncake.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mouse.yaml new file mode 100644 index 0000000..7924b83 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mouse.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mug.yaml new file mode 100644 index 0000000..84db391 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-mug.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-onion.yaml new file mode 100644 index 0000000..0004152 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-onion.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-orange.yaml new file mode 100644 index 0000000..da86682 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-orange.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pastry.yaml new file mode 100644 index 0000000..d1525c1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pastry.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-peach.yaml new file mode 100644 index 0000000..4250e83 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-peach.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pear.yaml new file mode 100644 index 0000000..b2d2f6e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pear.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pen.yaml new file mode 100644 index 0000000..3334ba1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pen.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..4acb5a3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pineapple.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..6527971 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pitaya.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..6b0eda1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-pomegranate.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..b636ee8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-power_strip.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-razor.yaml new file mode 100644 index 0000000..908ec3a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-razor.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..8d73e3d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..5020320 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-remote_control.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..0ad9f24 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-rubik_cube.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-sausage.yaml new file mode 100644 index 0000000..886edb4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-sausage.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-scissor.yaml new file mode 100644 index 0000000..1db5eb6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-scissor.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..8922f78 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shampoo.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shoe.yaml new file mode 100644 index 0000000..111c909 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shoe.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..7ea28db --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-shrimp.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-soap.yaml new file mode 100644 index 0000000..14f0da8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-soap.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-spanner.yaml new file mode 100644 index 0000000..ebc7cb7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-spanner.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-starfish.yaml new file mode 100644 index 0000000..c1fc8b9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-starfish.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..1c88247 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-sweet_potato.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..6755085 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..23dc01a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tape_measure.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-teapot.yaml new file mode 100644 index 0000000..9c69fc8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-teapot.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-timer.yaml new file mode 100644 index 0000000..ccb1c7d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-timer.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tissue.yaml new file mode 100644 index 0000000..16a6425 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tissue.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tomato.yaml new file mode 100644 index 0000000..bd5c398 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tomato.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..bbc8dc6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tooth_brush.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..7a7fe36 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-tooth_paste.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..d65a6ee --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_animals.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..9b05f59 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_boat.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..c9168f8 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_bus.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..c1685ff --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_car.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..487d171 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..ed9215b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_plane.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..19d8143 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_plant.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..8d78b24 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_train.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..7393ed3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-toy_truck.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..7f8b126 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-umbrella.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-waffle.yaml new file mode 100644 index 0000000..3096b2f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-waffle.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-watch.yaml new file mode 100644 index 0000000..1ce2fa4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-watch.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-whistle.yaml new file mode 100644 index 0000000..7332259 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-whistle.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-can.yaml new file mode 100644 index 0000000..a0ca712 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-can.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..0adbc9b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-red_wine_glass.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-spoon.yaml new file mode 100644 index 0000000..973c5bd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/phocal-spoon.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/real-camera.yaml new file mode 100644 index 0000000..9ec3c43 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/real-camera.yaml @@ -0,0 +1,143 @@ +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 + + neglect_collision_names: ["table"] + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_left + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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: [ + [-0.45, -0.25, 0.0], + [0.05, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.7, -0.35], + [0.2, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/left/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with left arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the left robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + left: + - + name: pick + objects: [pick_object_left] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/google_scan-handbag.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/google_scan-handbag.yaml new file mode 100644 index 0000000..bd90366 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/google_scan-handbag.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-handbag/google_scan-handbag_0325/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-handbag" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/google_scan-handbag" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/google_scan-hat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/google_scan-hat.yaml new file mode 100644 index 0000000..c3dda64 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/google_scan-hat.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/google_scan-hat/google_scan-hat_0653/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "google_scan-hat" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/google_scan-hat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-asparagus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-asparagus.yaml new file mode 100644 index 0000000..5982ef6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-asparagus.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-asparagus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-ball.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-ball.yaml new file mode 100644 index 0000000..c1ab83c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-ball.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-ball" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bamboo_shoots.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bamboo_shoots.yaml new file mode 100644 index 0000000..3aa1479 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bamboo_shoots.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bamboo_shoots" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-banana.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-banana.yaml index 4cee14c..413aaf6 100644 --- a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-banana.yaml +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-banana.yaml @@ -34,7 +34,7 @@ tasks: objects: - name: pick_object_right - 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" diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-battery.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-battery.yaml new file mode 100644 index 0000000..aee14f2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-battery.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-battery" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-belt.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-belt.yaml new file mode 100644 index 0000000..4ca9acf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-belt.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-belt" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bottle.yaml new file mode 100644 index 0000000..f067cf3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bottle.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bowl.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bowl.yaml new file mode 100644 index 0000000..618971b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bowl.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bowl" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-box.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-box.yaml new file mode 100644 index 0000000..5874b07 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-box.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-box" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-boxed_beverage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-boxed_beverage.yaml new file mode 100644 index 0000000..44db336 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-boxed_beverage.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-boxed_beverage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bread.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bread.yaml new file mode 100644 index 0000000..85ac1f3 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-bread.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-bread" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-brush.yaml new file mode 100644 index 0000000..04b281f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-brush.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cake.yaml new file mode 100644 index 0000000..a78fbce --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cake.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-cake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-calculator.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-calculator.yaml new file mode 100644 index 0000000..ecfe054 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-calculator.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-calculator" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-candle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-candle.yaml new file mode 100644 index 0000000..4661f58 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-candle.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-candle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-carrot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-carrot.yaml new file mode 100644 index 0000000..662cccf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-carrot.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-carrot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chess.yaml new file mode 100644 index 0000000..fb3de38 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chess.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chicken_leg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chicken_leg.yaml new file mode 100644 index 0000000..d9f372d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chicken_leg.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chicken_leg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chili.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chili.yaml new file mode 100644 index 0000000..b4930f0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chili.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chili" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chinese_chess.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chinese_chess.yaml new file mode 100644 index 0000000..9c2d08c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-chinese_chess.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-chinese_chess" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-clock.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-clock.yaml new file mode 100644 index 0000000..9513683 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-clock.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-clock" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-conch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-conch.yaml new file mode 100644 index 0000000..8e7e46b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-conch.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-conch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-corn.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-corn.yaml new file mode 100644 index 0000000..4f171ec --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-corn.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-corn" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cucumber.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cucumber.yaml new file mode 100644 index 0000000..5398553 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cucumber.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-cucumber" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cup.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cup.yaml new file mode 100644 index 0000000..ca85639 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-cup.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-cup" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dinosaur.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dinosaur.yaml new file mode 100644 index 0000000..a4cd473 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dinosaur.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-dinosaur" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dish.yaml new file mode 100644 index 0000000..78c11a1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dish.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-dish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-donut.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-donut.yaml new file mode 100644 index 0000000..c373acd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-donut.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-donut" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dumpling.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dumpling.yaml new file mode 100644 index 0000000..1591ad1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-dumpling.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-dumpling" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-egg.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-egg.yaml new file mode 100644 index 0000000..2c2dccf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-egg.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-egg" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-egg_tart.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-egg_tart.yaml new file mode 100644 index 0000000..3618525 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-egg_tart.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-egg_tart" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-eraser.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-eraser.yaml new file mode 100644 index 0000000..c50d438 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-eraser.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-eraser" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-facial_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-facial_cream.yaml new file mode 100644 index 0000000..676126f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-facial_cream.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-facial_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-flash_light.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-flash_light.yaml new file mode 100644 index 0000000..1ecbf9f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-flash_light.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-flash_light" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-garage_kit.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-garage_kit.yaml new file mode 100644 index 0000000..3dbaf0c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-garage_kit.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-garage_kit" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-garlic.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-garlic.yaml new file mode 100644 index 0000000..ac92297 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-garlic.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-garlic" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-glasses.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-glasses.yaml new file mode 100644 index 0000000..912a71e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-glasses.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-glasses" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-glasses_case.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-glasses_case.yaml new file mode 100644 index 0000000..3977be0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-glasses_case.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-glasses_case" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hair_dryer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hair_dryer.yaml new file mode 100644 index 0000000..8136da0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hair_dryer.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hair_dryer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hamburger.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hamburger.yaml new file mode 100644 index 0000000..5183611 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hamburger.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hamburger" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hammer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hammer.yaml new file mode 100644 index 0000000..a85b7cf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hammer.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hammer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hand_cream.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hand_cream.yaml new file mode 100644 index 0000000..6572e7d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hand_cream.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hand_cream" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hot_dog.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hot_dog.yaml new file mode 100644 index 0000000..bb13b63 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-hot_dog.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-hot_dog" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-knife.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-knife.yaml new file mode 100644 index 0000000..acc3831 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-knife.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-knife" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lemon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lemon.yaml new file mode 100644 index 0000000..f620695 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lemon.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-lemon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lipstick.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lipstick.yaml new file mode 100644 index 0000000..d9b964a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lipstick.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-lipstick" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lotus_root.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lotus_root.yaml new file mode 100644 index 0000000..5a6e4cc --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-lotus_root.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-lotus_root" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mango.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mango.yaml new file mode 100644 index 0000000..65c4659 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mango.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mango" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mangosteen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mangosteen.yaml new file mode 100644 index 0000000..f71155a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mangosteen.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mangosteen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-medicine_bottle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-medicine_bottle.yaml new file mode 100644 index 0000000..58b65cb --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-medicine_bottle.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-medicine_bottle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mooncake.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mooncake.yaml new file mode 100644 index 0000000..7979806 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mooncake.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mooncake" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mouse.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mouse.yaml new file mode 100644 index 0000000..741a104 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mouse.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mouse" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mug.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mug.yaml new file mode 100644 index 0000000..5fd370c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-mug.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-mug" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-onion.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-onion.yaml new file mode 100644 index 0000000..b105ff4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-onion.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-onion" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-orange.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-orange.yaml new file mode 100644 index 0000000..45ee3ca --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-orange.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-orange" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pastry.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pastry.yaml new file mode 100644 index 0000000..8d25b18 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pastry.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pastry" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-peach.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-peach.yaml new file mode 100644 index 0000000..0d52dcd --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-peach.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-peach" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pear.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pear.yaml new file mode 100644 index 0000000..b0701ba --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pear.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pear" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pen.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pen.yaml new file mode 100644 index 0000000..2bff562 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pen.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pen" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pineapple.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pineapple.yaml new file mode 100644 index 0000000..fc8f94c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pineapple.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pineapple" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pitaya.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pitaya.yaml new file mode 100644 index 0000000..f22354b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pitaya.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pitaya" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pomegranate.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pomegranate.yaml new file mode 100644 index 0000000..4ec6324 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-pomegranate.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-pomegranate" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-power_strip.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-power_strip.yaml new file mode 100644 index 0000000..b8bed3c --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-power_strip.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-power_strip" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-razor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-razor.yaml new file mode 100644 index 0000000..59908d6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-razor.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-razor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-red_wine_glass.yaml new file mode 100644 index 0000000..79c40ac --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-red_wine_glass.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-remote_control.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-remote_control.yaml new file mode 100644 index 0000000..6a07cfe --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-remote_control.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-remote_control" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-rubik_cube.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-rubik_cube.yaml new file mode 100644 index 0000000..14dbfec --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-rubik_cube.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-rubik_cube" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-sausage.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-sausage.yaml new file mode 100644 index 0000000..9452f16 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-sausage.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-sausage" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-scissor.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-scissor.yaml new file mode 100644 index 0000000..c382be1 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-scissor.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-scissor" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shampoo.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shampoo.yaml new file mode 100644 index 0000000..df25a73 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shampoo.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-shampoo" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shoe.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shoe.yaml new file mode 100644 index 0000000..0e95565 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shoe.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-shoe" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shrimp.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shrimp.yaml new file mode 100644 index 0000000..eb07899 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-shrimp.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-shrimp" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-soap.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-soap.yaml new file mode 100644 index 0000000..eb63d19 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-soap.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-soap" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-spanner.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-spanner.yaml new file mode 100644 index 0000000..fab2947 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-spanner.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-spanner" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-starfish.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-starfish.yaml new file mode 100644 index 0000000..925246a --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-starfish.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-starfish" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-sweet_potato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-sweet_potato.yaml new file mode 100644 index 0000000..be26ac2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-sweet_potato.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-sweet_potato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-table_tennis_bat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-table_tennis_bat.yaml new file mode 100644 index 0000000..bdf4ecf --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-table_tennis_bat.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-table_tennis_bat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tape_measure.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tape_measure.yaml new file mode 100644 index 0000000..f1cba58 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tape_measure.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tape_measure" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-teapot.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-teapot.yaml new file mode 100644 index 0000000..3a73d0e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-teapot.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-teapot" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-timer.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-timer.yaml new file mode 100644 index 0000000..5c0ddef --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-timer.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-timer" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tissue.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tissue.yaml new file mode 100644 index 0000000..7e9178f --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tissue.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tissue" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tomato.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tomato.yaml new file mode 100644 index 0000000..18b26d7 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tomato.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tomato" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tooth_brush.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tooth_brush.yaml new file mode 100644 index 0000000..4a26176 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tooth_brush.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tooth_brush" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tooth_paste.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tooth_paste.yaml new file mode 100644 index 0000000..d965865 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-tooth_paste.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-tooth_paste" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_animals.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_animals.yaml new file mode 100644 index 0000000..2577ce6 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_animals.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_animals" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_boat.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_boat.yaml new file mode 100644 index 0000000..a9d3583 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_boat.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_boat" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_bus.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_bus.yaml new file mode 100644 index 0000000..86cbf47 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_bus.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_bus" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_car.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_car.yaml new file mode 100644 index 0000000..741ba72 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_car.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_car" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_motorcycle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_motorcycle.yaml new file mode 100644 index 0000000..f7af3ca --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_motorcycle.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_motorcycle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_plane.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_plane.yaml new file mode 100644 index 0000000..06e8d81 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_plane.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_plane" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_plant.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_plant.yaml new file mode 100644 index 0000000..bd115a4 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_plant.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_plant" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_train.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_train.yaml new file mode 100644 index 0000000..de50a7d --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_train.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_train" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_truck.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_truck.yaml new file mode 100644 index 0000000..4d7ac2e --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-toy_truck.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-toy_truck" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-umbrella.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-umbrella.yaml new file mode 100644 index 0000000..162c63b --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-umbrella.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-umbrella" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-waffle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-waffle.yaml new file mode 100644 index 0000000..be2d2b9 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-waffle.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-waffle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-watch.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-watch.yaml new file mode 100644 index 0000000..3b36ff2 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-watch.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-watch" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-whistle.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-whistle.yaml new file mode 100644 index 0000000..ad90142 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/omniobject3d-whistle.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/omniobject3d-whistle" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-can.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-can.yaml new file mode 100644 index 0000000..91db797 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-can.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-can/omniobject3d-can_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-can" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/phocal-can" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-red_wine_glass.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-red_wine_glass.yaml new file mode 100644 index 0000000..beb0274 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-red_wine_glass.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-red_wine_glass/phocal-red_wine_glass_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/phocal-red_wine_glass" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-spoon.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-spoon.yaml new file mode 100644 index 0000000..a13ddd0 --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/phocal-spoon.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/phocal-spoon/phocal-spoon_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "phocal-spoon" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/phocal-spoon" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward diff --git a/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/real-camera.yaml b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/real-camera.yaml new file mode 100644 index 0000000..e00a0af --- /dev/null +++ b/workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/right/real-camera.yaml @@ -0,0 +1,143 @@ +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 + + + + env_map: + envmap_lib: envmap_lib + apply_randomization: True + intensity_range: [4000, 7000] + rotation_range: [0, 180] + + robots: + - + name: "split_aloha" + robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml + euler: [0.0, 0.0, 90.0] + left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178] + left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329] + + + objects: + - + name: pick_object_right + path: pick_and_place/pre-train-pick/assets/real-camera/real-camera_001/Aligned_obj.usd + target_class: RigidObject + dataset: oo3d + category: "real-camera" + 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_right + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.05, -0.25, 0.0], + [0.45, 0.15, 0.0] + ] + yaw_rotation: [-180.0, 180.0] + - + object: split_aloha + target: table + random_type: A_on_B_region_sampler + random_config: + pos_range: [ + [-0.025, -0.86, -0.765], + [0.025, -0.86, -0.715] + ] + 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: [ + [-0.2, -0.35], + [0.7, 0.35] + ] + min_object_distance: 0.03 + exclude_keywords: ["shoe", "book", "hair_dryer", "box", "cube", "whistle", "discarded", "ball"] + + cameras: + - + name: split_aloha_hand_left + translation: [0.0, 0.08, 0.05] + orientation: [0.0, 0.0, 0.965, 0.259] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_hand_right + translation: [0.0, 0.08, 0.04] + orientation: [0.0, 0.0, 0.972, 0.233] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/astra.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6" # todo + apply_randomization: True + max_translation_noise: 0.02 + max_orientation_noise: 2.5 + - + name: split_aloha_head + translation: [0.0, -0.00818, 0.1] + orientation: [0.658, 0.259, -0.282, -0.648] + camera_axes: usd + camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml + parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link" # todo: robot base frame + apply_randomization: True + max_translation_noise: 0.03 + max_orientation_noise: 5.0 + + data: + task_dir: "single_pick/right/real-camera" + language_instruction: "Pick up the ${tasks.0.objects.0.name} with right arm." + detailed_language_instruction: "Grasp and lift the ${tasks.0.objects.0.name} with the right robotic arm." + collect_info: "" + version: "v2.0, head camerea 1280x720, wrist 640x480" + update: True + max_episode_length: 500 + + skills: + - + split_aloha: + - + right: + - + name: pick + objects: [pick_object_right] + filter_y_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: forward