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
261 lines
7.3 KiB
Markdown
261 lines
7.3 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/guides/quickstart.html
|
||
|
||
# Quick Start [](#quick-start)
|
||
|
||
This guide walks you through running your first InternDataEngine data generation task and understanding the core configuration concepts.
|
||
|
||
## Running Your First Task [](#running-your-first-task)
|
||
|
||
The quickest way to start:
|
||
bash
|
||
```
|
||
/isaac-sim/python.sh launcher.py \
|
||
--config configs/simbox/de_plan_with_render_template.yaml
|
||
```
|
||
1
|
||
2
|
||
|
||
You can also use the wrapper script (same effect, simpler arguments):
|
||
bash
|
||
```
|
||
bash scripts/simbox/simbox_plan_with_render.sh <task_config_path> [num_samples] [random_seed]
|
||
|
||
# Example
|
||
bash scripts/simbox/simbox_plan_with_render.sh \
|
||
workflows/simbox/core/configs/tasks/basic/split_aloha/track_the_targets/track_the_targets.yaml 10
|
||
```
|
||
1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
|
||
>
|
||
|
||
See the script file for more usage details.
|
||
|
||
### Command Line Arguments [](#command-line-arguments)
|
||
|
||
| Argument | Description |
|
||
| `--config ` | **Required **. Path to the execution config file |
|
||
| `--random_seed ` | Optional. Fix random seed for reproducibility |
|
||
| `--debug ` | Optional. Debug mode — exceptions are raised immediately |
|
||
|
||
Any field in the config file can be overridden via the command line using dot-separated paths:
|
||
bash
|
||
```
|
||
--load_stage.layout_random_generator.args.random_num=500
|
||
--load_stage.scene_loader.args.simulator.headless=false
|
||
```
|
||
1
|
||
2
|
||
|
||
This is equivalent to modifying the config file directly.
|
||
|
||
## Execution Modes [](#execution-modes)
|
||
|
||
The engine provides multiple execution modes. Switch between them by changing the config file passed to `--config `:
|
||
|
||
| Config File | Mode | Description |
|
||
| `de_plan_with_render_template.yaml ` | Plan + Render simultaneous | Simplest; good for debugging. Required for fluid tasks |
|
||
| `de_pipe_template.yaml ` | Plan / Render pipelined | Best performance (memory-dependent); ideal for large-scale production |
|
||
| `de_plan_and_render_template.yaml ` | Plan and Render sequential | For serial debugging of the Pipe mode |
|
||
| `de_plan_template.yaml ` | Planning only | Generate trajectories without rendering |
|
||
| `de_render_template.yaml ` | Rendering only | Render images from existing trajectories; re-render with different backgrounds/materials |
|
||
|
||
**Recommended **: Use `de_plan_with_render_template.yaml `or `de_plan_and_render_template.yaml `during development, and `de_pipe_template.yaml `for production. Due to potential interference between Isaac Sim multi-process instances, it is recommended to run in containerized environments — e.g., launch multiple single-GPU containers on a cluster to execute the pipeline script.
|
||
bash
|
||
```
|
||
# Debug mode
|
||
/isaac-sim/python.sh launcher.py --config configs/simbox/de_plan_with_render_template.yaml
|
||
|
||
# Production mode
|
||
/isaac-sim/python.sh launcher.py --config configs/simbox/de_pipe_template.yaml
|
||
```
|
||
1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
|
||
## Understanding the Configuration [](#understanding-the-configuration)
|
||
|
||
The engine uses two types of config files:
|
||
|
||
- **Execution configs **( `configs/simbox/de_*.yaml `): Define the pipeline execution mode and stage orchestration
|
||
- **Task configs **( `workflows/simbox/core/configs/tasks/... `): Define the specific task — robots, objects, skills, etc.
|
||
|
||
### Execution Config Details [](#execution-config-details)
|
||
|
||
The data pipeline consists of four stages: **Load **-> **Plan **-> **Render **-> **Store **.
|
||
|
||
Using `de_plan_and_render_template.yaml `as an example:
|
||
yaml
|
||
```
|
||
load_stage:
|
||
scene_loader: # Scene loader
|
||
type: env_loader
|
||
args:
|
||
workflow_type: SimBoxDualWorkFlow
|
||
cfg_path: workflows/simbox/core/configs/tasks/... # Task config path
|
||
simulator:
|
||
physics_dt: 1/30 # Physics update rate
|
||
rendering_dt: 1/30 # Render update rate
|
||
headless: True # Headless mode (no GUI)
|
||
anti_aliasing: 0 # Anti-aliasing level
|
||
layout_random_generator: # Scene randomization
|
||
type: env_randomizer
|
||
args:
|
||
random_num: 5 # Number of random samples
|
||
strict_mode: true # true: output count must equal random_num
|
||
|
||
plan_stage:
|
||
seq_planner:
|
||
type: env_planner # Trajectory planner
|
||
|
||
render_stage:
|
||
renderer:
|
||
type: env_renderer # Renderer
|
||
|
||
store_stage:
|
||
writer:
|
||
type: env_writer
|
||
args:
|
||
batch_async: true # Async writes (better perf, more memory)
|
||
output_dir: output/${name}/ # Output directory
|
||
```
|
||
1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
6
|
||
7
|
||
8
|
||
9
|
||
10
|
||
11
|
||
12
|
||
13
|
||
14
|
||
15
|
||
16
|
||
17
|
||
18
|
||
19
|
||
20
|
||
21
|
||
22
|
||
23
|
||
24
|
||
25
|
||
26
|
||
27
|
||
28
|
||
29
|
||
30
|
||
31
|
||
|
||
### Task Config [](#task-config)
|
||
|
||
A task config defines the complete scene for a data generation run:
|
||
|
||
| Field | Description |
|
||
| robots | Robot model and parameters |
|
||
| objects | Interactive objects in the scene |
|
||
| camera | Viewpoint and image capture settings |
|
||
| skills | Manipulation skill sequence to execute |
|
||
| arena | Object placement regions and scene layout |
|
||
|
||
## Example Tasks [](#example-tasks)
|
||
|
||
### Pick and Place [](#pick-and-place)
|
||
bash
|
||
```
|
||
/isaac-sim/python.sh launcher.py \
|
||
--config configs/simbox/de_plan_with_render_template.yaml \
|
||
--load_stage.scene_loader.args.cfg_path=workflows/simbox/core/configs/tasks/basic/lift2/insert_the_markpen_in_penholder/left/insert_the_markpen_in_penholder_part0.yaml
|
||
```
|
||
1
|
||
2
|
||
3
|
||
|
||
### Pouring Task [](#pouring-task)
|
||
bash
|
||
```
|
||
/isaac-sim/python.sh launcher.py \
|
||
--config configs/simbox/de_plan_with_render_template.yaml \
|
||
--load_stage.scene_loader.args.cfg_path=workflows/simbox/core/configs/tasks/basic/lift2/pour_redwine_left.yaml
|
||
```
|
||
1
|
||
2
|
||
3
|
||
|
||
### Long-Horizon Task [](#long-horizon-task)
|
||
bash
|
||
```
|
||
/isaac-sim/python.sh launcher.py \
|
||
--config configs/simbox/de_plan_with_render_template.yaml \
|
||
--load_stage.scene_loader.args.cfg_path=workflows/simbox/core/configs/tasks/long_horizon/lift2/dexpnp/sort_parts_0.yaml
|
||
```
|
||
1
|
||
2
|
||
3
|
||
|
||
## Output Structure [](#output-structure)
|
||
|
||
Output is saved to the path specified in `store_stage.writer.args.output_dir `:
|
||
text
|
||
```
|
||
output_dir/
|
||
├── <task_type>/
|
||
│ └── <robot>/
|
||
│ └── <task_name>/
|
||
│ └── <arm>/
|
||
│ ├── <timestamp1>/
|
||
│ │ ├── images.rgb.head/
|
||
│ │ ├── images.rgb.hand_right/
|
||
│ │ ├── images.rgb.hand_left/
|
||
│ │ └── lmdb/
|
||
│ └── <timestamp2>/
|
||
│ └── ...
|
||
├── de_config.yaml # Copy of the execution config
|
||
├── de_time_profile_*.log # Execution time statistics
|
||
├── de_p*_w*_time_profile*.log # (Pipe mode) Per-process timing
|
||
└── de_supervisor_p*_w*.log # (Pipe mode) Process monitor logs
|
||
```
|
||
1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
6
|
||
7
|
||
8
|
||
9
|
||
10
|
||
11
|
||
12
|
||
13
|
||
14
|
||
15
|
||
16
|
||
|
||
## Debugging Tips [](#debugging-tips)
|
||
|
||
### Enable Visualization [](#enable-visualization)
|
||
|
||
Disable headless mode to show the simulation GUI:
|
||
bash
|
||
```
|
||
--load_stage.scene_loader.args.simulator.headless=false
|
||
```
|
||
1
|
||
|
||
### Common Issues [](#common-issues)
|
||
|
||
| Issue | Troubleshooting |
|
||
| Scene setup errors | Check `set_up_scene() `in `workflows/simbox/core/tasks/banana.py ` |
|
||
| Reset failures | Check `reset() `in `workflows/simbox_dual_workflow.py ` |
|
||
| Motion planning failures | Check robot config in task YAML, object collision settings, `ignore_substring `list |
|
||
| UnicodeDecodeError | Set `export PYTHONUTF8=1 ` | |