3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
523 lines
12 KiB
Markdown
523 lines
12 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/config/yaml.html
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# YAML Configuration [](#yaml-configuration)
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Task configurations in InternDataEngine are defined using YAML files. This page explains the structure and available options.
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## Overview [](#overview)
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A task YAML file defines all components needed for a simulation episode: environment, robots, objects, cameras, and skills. The workflow loads this configuration to set up the simulation.
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## World Settings [](#world-settings)
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Global simulation settings are defined in the YAML files under `configs/simbox `:
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yaml
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```
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simulator:
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physics_dt: 1/30 # Physics update rate
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rendering_dt: 1/30 # Render update rate
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stage_units_in_meters: 1.0 # Stage unit scale
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headless: True # Run without GUI; set to False for visual debugging
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anti_aliasing: 0 # Anti-aliasing level
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```
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### World Settings [](#world-settings-1)
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- **physics_dt **( float ): Physics simulation time step (in seconds).
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- **rendering_dt **( float ): Rendering time step (in seconds).
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- **stage_units_in_meters **( float ): Unit scale used for the USD stage.
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- **headless **( bool ): Run without GUI; set to `False `for visual debugging.
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- **anti_aliasing **( int ): Anti-aliasing level (0 = disabled).
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## Task Basic Configuration [](#task-basic-configuration)
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Each task begins with basic metadata and settings:
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yaml
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```
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tasks:
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-
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name: banana_base_task # Task identifier
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asset_root: workflows/simbox/example_assets # Root path for all assets
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task: BananaBaseTask # Task class name
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task_id: 0 # Task instance ID
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offset: null # Optional position offset
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render: True # Enable rendering
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neglect_collision_names: ["table"] # Collision filter names
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```
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### Task Basic Configuration [](#task-basic-configuration-1)
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- **name **( str ): Unique task identifier.
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- **asset_root **( str ): Root directory for all USD assets.
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- **task **( str ): Python class that implements task logic.
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- **task_id **( int ): Instance ID for multi-task scenarios.
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- **offset **( list ): Optional world offset [x, y, z].
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- **render **( bool ): Enable/disable visual rendering.
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- **neglect_collision_names **( list ): Object names to exclude from gripper collision checking.
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## Arena [](#arena)
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Arena configuration defines static fixtures in the environment, such as tables, floors, and backgrounds. Each fixture specifies its USD asset path, position, orientation, scale, and optionally texture randomization settings.
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Arena configs are stored in `workflows/simbox/core/configs/arenas/ `and referenced via the `arena_file `field.
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yaml
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```
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name: example
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fixtures:
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-
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name: table
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path: table0/instance.usd
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target_class: GeometryObject
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translation: [0.0, 0.0, 0.375]
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scale: [0.000525, 0.001053, 0.001056]
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-
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name: floor
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target_class: PlaneObject
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size: [5.0, 5.0]
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translation: [0, 0, 0]
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```
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## Environment Map [](#environment-map)
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Environment map controls scene lighting and HDR backgrounds. It supports randomization of lighting intensity and rotation:
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yaml
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```
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env_map:
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envmap_lib: envmap_lib # Path to HDR environment maps
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apply_randomization: True # Enable random lighting
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intensity_range: [4000, 7000] # Light intensity range
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rotation_range: [0, 180] # Environment rotation range (degrees)
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```
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## Robots [](#robots)
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Robot configuration specifies the robot name, its configuration file path, initial orientation, and collision filter substrings:
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yaml
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```
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robots:
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name: "split_aloha"
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robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
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euler: [0.0, 0.0, 90.0]
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ignore_substring: ["material", "table", "gso_box"]
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```
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### Robots [](#robots-1)
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- **name **( str ): Robot identifier (must match skill definitions).
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- **robot_config_file **( str ): Path to robot config file, relative to asset_root.
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- **euler **( list ): Initial rotation [roll, pitch, yaw] in degrees, in world frame.
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- **ignore_substring **( list ): Substrings for collision filtering; objects with matching name prefixes are excluded from CuRobo collision checking.
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For detailed robot configuration, see [Robots](/InternDataEngine-Docs/concepts/robots.html).
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## Objects [](#objects)
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Objects define items in the scene that can be manipulated, along with their metadata and placement properties:
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yaml
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```
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objects:
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-
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name: pick_object_left
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path: task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd
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target_class: RigidObject
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dataset: oo3d
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category: bottle
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prim_path_child: Aligned
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translation: [0.0, 0.0, 0.0]
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euler: [0.0, 0.0, 0.0]
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scale: [1, 1, 1]
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apply_randomization: True
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orientation_mode: random
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```
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### Objects [](#objects-1)
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- **name **( str ): Unique object identifier (must match skill definitions).
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- **path **( str ): USD file path relative to asset_root.
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- **target_class **( str ): Object type: `RigidObject `, `GeometryObject `, `ArticulatedObject `, `XFormObject `, `ConveyorObject `.
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- **dataset **( str ): Source dataset (e.g., `oo3d `, `gso `).
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- **category **( str ): Object category for grasp detection.
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- **prim_path_child **( str ): USD sub-prim name (default: `Aligned `). This prim contains the target mesh for collision and grasping.
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- **translation **( list ): Initial position [x, y, z] in world frame.
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- **euler **( list ): Initial rotation [roll, pitch, yaw] in degrees, in world frame.
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- **scale **( list ): Scale factors [sx, sy, sz].
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- **apply_randomization **( bool ): Enable pose randomization within the category.
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- **orientation_mode **( str ): Orientation constraint: `random `(pure random), `suggested `(follows category defaults), or `keep `(use `euler `values).
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For detailed object configuration, see [Objects](/InternDataEngine-Docs/concepts/objects.html).
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## Regions [](#regions)
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Regions define spatial constraints for object placement, specifying which object to place, the target surface, and the allowed position/orientation ranges:
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yaml
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```
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regions:
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object: pick_object_left
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target: table
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random_type: A_on_B_region_sampler
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random_config:
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pos_range: [
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[-0.3, -0.20, 0.0],
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[-0.025, 0.10, 0.0]
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]
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yaw_rotation: [-45.0, 15.0]
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```
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### Regions [](#regions-1)
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- **object **( str ): Name of the object to place.
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- **target **( str ): Target surface name from arena fixtures (default: `table `).
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- **random_type **( str ): Sampler type for placement.
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- **pos_range **( list ): Position range [[x_min, y_min, z_min], [x_max, y_max, z_max]] in world frame.
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- **yaw_rotation **( list ): Yaw angle range [min, max] in degrees in world frame.
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## Cameras [](#cameras)
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Camera configuration defines viewpoint, intrinsic parameters, and extrinsic randomization:
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yaml
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```
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cameras:
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name: split_aloha_hand_left
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translation: [0.0, 0.08, 0.05]
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orientation: [0.0, 0.0, 0.965, 0.259]
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camera_axes: usd
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camera_file: workflows/simbox/core/configs/cameras/astra.yaml
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parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"
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apply_randomization: False
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```
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### Cameras [](#cameras-1)
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- **name **( str ): Camera identifier.
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- **translation **( list ): Position offset [x, y, z] from parent link.
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- **orientation **( list ): Rotation offset as quaternion [qx, qy, qz, qw] from parent link.
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- **camera_axes **( str ): Coordinate convention: `usd `or `ros `.
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- **camera_file **( str ): Path to camera parameter file.
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- **parent **( str ): USD prim path to attach the camera to.
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- **apply_randomization **( bool ): Enable extrinsics randomization.
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For detailed camera configuration, see [Cameras](/InternDataEngine-Docs/concepts/cameras.html).
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## Data [](#data)
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The data section stores metadata for dataset generation:
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yaml
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```
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data:
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task_dir: "sort_the_rubbish_part0"
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language_instruction: "Sort the garbage on the desktop into recyclable and non-recyclable."
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detailed_language_instruction: "Pick the bottles and place them into the recyclable trashbin with right arm, and pick the other garbage and place it into the non-recyclable trashbin with left arm."
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collect_info: ""
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version: "v2.0, head camera 1280x720, wrist 640x480"
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update: True
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max_episode_length: 4000
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```
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### Data [](#data-1)
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- **task_dir **( str ): Output directory name.
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- **language_instruction **( str ): Short task description.
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- **detailed_language_instruction **( str ): Detailed instruction for training.
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- **collect_info **( str ): Additional collection metadata.
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- **version **( str ): Dataset version string.
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- **update **( bool ): Whether to overwrite existing data.
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- **max_episode_length **( int ): Maximum steps per episode.
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## Skills [](#skills)
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Skills define the action sequence for the robot:
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yaml
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```
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skills:
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split_aloha:
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right:
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name: pick
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objects: [pick_object_right]
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filter_y_dir: ["forward", 60]
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filter_z_dir: ["downward", 150]
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pre_grasp_offset: 0.05
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gripper_change_steps: 10
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t_eps: 0.025
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o_eps: 1
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process_valid: True
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lift_th: 0.02
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post_grasp_offset_min: 0.10
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post_grasp_offset_max: 0.15
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name: place
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objects: [pick_object_right, gso_box_right]
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place_direction: vertical
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x_ratio_range: [0.3, 0.4]
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y_ratio_range: [0.3, 0.4]
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pre_place_z_offset: 0.3
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place_z_offset: 0.3
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success_mode: height
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name: heuristic__skill
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mode: home
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gripper_state: 1.0
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```
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For detailed skill configuration, see [Skills](/InternDataEngine-Docs/concepts/skills/overview.html).
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## Complete Example [](#complete-example)
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Here is a minimal task configuration:
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yaml
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```
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tasks:
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name: banana_base_task
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asset_root: workflows/simbox/assets
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task: BananaBaseTask
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task_id: 0
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offset: null
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render: True
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arena_file: workflows/simbox/core/configs/arenas/example.yaml
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env_map:
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envmap_lib: envmap_lib
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apply_randomization: False
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robots:
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name: "fr3"
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robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
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euler: [0.0, 0.0, 0.0]
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objects:
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name: bottle
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path: objects/bottle.usd
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target_class: RigidObject
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dataset: oo3d
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category: bottle
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prim_path_child: Aligned
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translation: [0.3, 0.0, 0.0]
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euler: [0.0, 0.0, 0.0]
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scale: [1, 1, 1]
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apply_randomization: False
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regions:
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object: bottle
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target: table
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random_type: A_on_B_region_sampler
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random_config:
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pos_range: [[0.2, -0.1, 0.0], [0.4, 0.1, 0.0]]
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yaw_rotation: [-30.0, 30.0]
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cameras:
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name: head_camera
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translation: [0.0, 0.0, 0.5]
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orientation: [0.707, 0.0, 0.0, 0.707]
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camera_file: workflows/simbox/core/configs/cameras/realsense_d455.yaml
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parent: ""
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data:
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task_dir: "pick_bottle"
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language_instruction: "Pick the bottle."
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detailed_language_instruction: "Pick the bottle."
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collect_info: ""
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version: "v1.0"
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update: True
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max_episode_length: 500
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skills:
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fr3:
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name: pick
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objects: [bottle]
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pre_grasp_offset: 0.05
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```
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