5313 lines
147 KiB
YAML
5313 lines
147 KiB
YAML
general:
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|
root_paths:
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asset: /data/workspace/luoly/code/TaskGen/data
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output: output://
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simulation:
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intiailize_steps: 120
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launch_config:
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device: cuda
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enable_cameras: true
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headless: false
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livestream: 0
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scene:
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name: 827313_home
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base_config:
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stereotype: usd
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name: _827313_home_workspace_01
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source: local
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asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd
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object_cfg_dict:
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omni6DPose_timer_017:
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name: omni6DPose_timer_017
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stereotype: rigid
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source: local
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asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd
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scale:
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- 0.001
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- 0.001
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- 0.001
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position:
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- 0.602364
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- -4.0682599999999995
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- 0.524713118
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quaternion:
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- 0.166210542394157
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- 0.166210542394157
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- 0.6872947370648492
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- 0.6872947370648491
|
|
axis_y_up: true
|
|
omni6DPose_book_031:
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name: omni6DPose_book_031
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stereotype: rigid
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source: local
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asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
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scale:
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- 0.001
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- 0.001
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- 0.001
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position:
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- 0.6623640000000001
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- -3.7882599999999997
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- 0.5101601435
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quaternion:
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- 0.7063055546421202
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- 0.7063055546421203
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- -0.03365209475927027
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- -0.033652094759270265
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|
axis_y_up: true
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robot_cfg_dict:
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Franka_Robotiq_2f85:
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name: Franka_Robotiq_2f85
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asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
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position:
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- 1.082364
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- -3.92826
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- 0.47629299999999997
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rotation:
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- 7.549799991308018e-08
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- 0.0
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- 0.0
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stereotype: single_gripper_arm_robot
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source: local
|
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init_joint_position:
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panda_joint2: -0.1633
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panda_joint4: -1.07
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panda_joint6: 0.8933
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panda_joint7: 0.785
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arm_actuator_name: franka_arm
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gripper_actuator_name: robotiq_2f_85
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ee_link_name: gripper_center
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use_planner: true
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planner_cfg:
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stereotype: curobo
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lazy_init: true
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robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
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world_config_source: stage
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sensor_cfg_dict:
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Hand_Camera:
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name: Hand_Camera
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stereotype: camera
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data_types:
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- rgb
|
|
- depth
|
|
- normals
|
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width: 1280
|
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height: 720
|
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camera_model: pinhole
|
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fix_camera: true
|
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focal_length: 2.8
|
|
horizontal_aperture: 4.893416860031241
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|
vertical_aperture: 2.7608816125932627
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|
convention: opengl
|
|
attach_to:
|
|
target_name: Franka_Robotiq_2f85
|
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is_articulation_part: true
|
|
articulation_part_name: panda_link8
|
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create_fixed_joint: true
|
|
local_position:
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- -0.07128738160694643
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- 0.03551506300731732
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- 0.018927748370281355
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local_rotation:
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Left_Camera:
|
|
name: Left_Camera
|
|
stereotype: camera
|
|
data_types:
|
|
- rgb
|
|
- depth
|
|
- normals
|
|
width: 1280
|
|
height: 720
|
|
camera_model: pinhole
|
|
fix_camera: false
|
|
focal_length: 2.1
|
|
horizontal_aperture: 5.030789363390793
|
|
vertical_aperture: 2.833796298140747
|
|
convention: opengl
|
|
attach_to:
|
|
target_name: Franka_Robotiq_2f85
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local_position:
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- 0.31702696813014064
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- -0.3844238699868664
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local_rotation:
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Right_Camera:
|
|
name: Right_Camera
|
|
stereotype: camera
|
|
data_types:
|
|
- rgb
|
|
- depth
|
|
- normals
|
|
width: 1280
|
|
height: 720
|
|
camera_model: pinhole
|
|
fix_camera: false
|
|
focal_length: 2.1
|
|
horizontal_aperture: 5.050364265142387
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vertical_aperture: 2.833796298140747
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convention: opengl
|
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attach_to:
|
|
target_name: Franka_Robotiq_2f85
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local_position:
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- 0.21844487914880717
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- 0.20172329179193413
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local_rotation:
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- 0.6091277686910994
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task:
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name: random_single_pick_place_001999
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description: 'Franka_Robotiq_2f85 executes stages: pick(gripper->omni6DPose_timer_017),
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place(omni6DPose_timer_017->omni6DPose_book_031)'
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actions:
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|
- name: open_gripper_action
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stereotype: release
|
|
description: open gripper action
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robot_name: Franka_Robotiq_2f85
|
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ee_type: gripper
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release_timeout: 60.0
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- name: pick_action_00
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ee_timeout: 60.0
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stereotype: pick
|
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description: Pick up omni6DPose_timer_017
|
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pick_up_distance: 0.03
|
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robot_name: Franka_Robotiq_2f85
|
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target_name: omni6DPose_timer_017
|
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pose_source: inline
|
|
pose_data:
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grasp_0:
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position:
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rotation_matrix:
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grasp_1:
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position:
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rotation_matrix:
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grasp_2:
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position:
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position:
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position:
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rotation_matrix:
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grasp_5:
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pose_frame: target
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ee_type: gripper
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|
goals:
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|
- name: on_top_goal_00
|
|
stereotype: on_top
|
|
description: omni6DPose_timer_017 on top of omni6DPose_book_031
|
|
object_A_name: omni6DPose_timer_017
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|
object_B_name: omni6DPose_book_031
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|
max_horizontal_offset: 0.01
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max_vertical_offset: 0.02
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extension:
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|
extension_cfg_dict:
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data_collect:
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|
enable: true
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|
stereotype: data_collect
|
|
observer_cfgs:
|
|
- stereotype: robot_observer
|
|
name: Franka_Robotiq_2f85
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|
observe_joint_positions: true
|
|
observe_joint_velocities: true
|
|
observe_joint_accelerations: true
|
|
observe_joint_position_targets: true
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|
observe_joint_velocity_targets: true
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|
observe_position: true
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|
observe_rotation: true
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|
observe_ee_pose: true
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|
observe_gripper_state: true
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observe_gripper_drive_state: true
|
|
- stereotype: task_observer
|
|
name: task
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|
- stereotype: object_observer
|
|
name: omni6DPose_timer_017
|
|
observe_position: true
|
|
observe_rotation: true
|
|
observe_scale: true
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|
- stereotype: object_observer
|
|
name: omni6DPose_book_031
|
|
observe_position: true
|
|
observe_rotation: true
|
|
observe_scale: true
|
|
- stereotype: sensor_observer
|
|
name: Hand_Camera
|
|
observe_intrinsic_matrix: true
|
|
observe_extrinsic_matrix: true
|
|
observe_rgb: true
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|
observe_depth: true
|
|
observe_normals: true
|
|
- stereotype: sensor_observer
|
|
name: Left_Camera
|
|
observe_intrinsic_matrix: true
|
|
observe_extrinsic_matrix: true
|
|
observe_rgb: true
|
|
observe_depth: true
|
|
observe_normals: true
|
|
- stereotype: sensor_observer
|
|
name: Right_Camera
|
|
observe_intrinsic_matrix: true
|
|
observe_extrinsic_matrix: true
|
|
observe_rgb: true
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|
observe_depth: true
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|
observe_normals: true
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|
record:
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|
enable: true
|
|
stereotype: record
|
|
backend_root_path: output://
|
|
postprocess_list:
|
|
- hdf5
|
|
- video
|
|
- png_depth
|
|
- preview_video
|
|
record_task_summary: true
|