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diff --git a/pick_place_block_subset/demo_000099.pickle b/pick_place_block_subset/demo_000099.pickle new file mode 100644 index 0000000000000000000000000000000000000000..49e16864ceda2f3c45aa94b0651b53dba20fefe4 --- /dev/null +++ b/pick_place_block_subset/demo_000099.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e45f2d98ec91f1a071c697b044988ead6d001c10ef11e85e826aac71ec41f9b2 +size 28848956 diff --git a/pick_place_block_subset/metadata.yaml b/pick_place_block_subset/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..acce4dd8fee6b577f32811c24944e2cf7908163d --- /dev/null +++ b/pick_place_block_subset/metadata.yaml @@ -0,0 +1,334 @@ +config_filename: /home/adam/isaac_ws/src/multisensory_learning/src/multisensory_learning/config/isaacgym/iiwa_pick_place_block.yaml +data_prefix: demo +data_root: /media/ssd_data/pick_place_block +demo: null +device: cpu +env: + img_size: null + objects: + block: + asset_filename: null + asset_root: null + density: 500.0 + extents: + - 0.08 + - 0.08 + - 0.08 + fix_base_link: false + frame_id: world + friction: 0.8 + name: null + object_type: box + orientation: null + position: + - null + - null + - null + position_ranges: + - - 0.3 + - 0.7 + - - -0.3 + - 0.3 + - - 0.44 + - 0.44 + rb_indices: + - 0 + - 32 + - 64 + - 96 + - 128 + - 160 + - 192 + - 224 + - 256 + - 288 + - 320 + - 352 + - 384 + - 416 + - 448 + - 480 + restitution: 0.8 + rgb_color: null + sample_angle_lower: -3.14159 + sample_angle_upper: 3.14159 + sample_axis: + - 0 + - 0 + - 1 + set_color: true + table: + asset_filename: null + asset_root: null + density: null + extents: + - 1.5 + - 1.5 + - 0.4 + fix_base_link: true + frame_id: world + friction: 0.2 + name: null + object_type: box + orientation: + - 0 + - 0 + - 0 + - 1 + position: + - 0.3 + - 0.0 + - 0.2 + position_ranges: null + rb_indices: + - 1 + - 33 + - 65 + - 97 + - 129 + - 161 + - 193 + - 225 + - 257 + - 289 + - 321 + - 353 + - 385 + - 417 + - 449 + - 481 + restitution: null + rgb_color: + - 0.52 + - 0.49 + - 0.41 + sample_angle_lower: null + sample_angle_upper: null + sample_axis: null + set_color: true + robots: + iiwa_reflex: + arm: + arm_type: Iiwa + damping: + - 40.0 + - 40.0 + - 40.0 + - 40.0 + - 40.0 + - 40.0 + - 40.0 + default_joint_pos: + - 0.0 + - 0.6 + - 0.0 + - -0.8 + - 0.0 + - 1.0 + - 1.57 + end_effector: + close_finger_indices: null + close_finger_joint_pos: + - 2.0 + - 2.0 + - 2.0 + close_for_steps: 50 + damping: + - 40.0 + - 40.0 + - 40.0 + - 40.0 + - 40.0 + default_joint_pos: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + ee_type: reflex + grip_finger_indices: + - -4 + - -2 + - -1 + interpolate_gap: 0.05 + joint_pos_sample_range: 0.0 + link: reflex_palm_link + n_joints: 5 + name: reflex + obj_to_ee_offset: 0.05 + open_finger_joint_pos: + - 0.0 + - 0.0 + - 0.0 + open_for_steps: 50 + stiffness: + - 800.0 + - 800.0 + - 800.0 + - 800.0 + - 800.0 + joint_pos_sample_range: 0.0 + n_joints: 7 + name: iiwa + rb_indices: {} + robot_type: iiwa + stiffness: + - 400.0 + - 400.0 + - 400.0 + - 400.0 + - 400.0 + - 400.0 + - 400.0 + armature: 0.01 + asset_filename: ll4ma_robots_description/urdf/iiwa/static/iiwa_reflex_static.urdf + disable_gravity: true + end_effector: + close_finger_indices: null + close_finger_joint_pos: + - 2.0 + - 2.0 + - 2.0 + close_for_steps: 40 + damping: + - 40.0 + - 40.0 + - 40.0 + - 40.0 + - 40.0 + default_joint_pos: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + ee_type: Reflex + grip_finger_indices: + - -4 + - -2 + - -1 + interpolate_gap: 0.05 + joint_pos_sample_range: 0.0 + link: reflex_palm_link + n_joints: 5 + name: reflex + obj_to_ee_offset: 0.07 + open_finger_joint_pos: + - 0.0 + - 0.0 + - 0.0 + open_for_steps: 50 + stiffness: + - 800.0 + - 800.0 + - 800.0 + - 800.0 + - 800.0 + fix_base_link: true + flip_visual_attachments: false + n_joints: 0 + name: iiwa_reflex + orientation: + - 0.0 + - 0.0 + - 0.0 + - 1.0 + position: + - 0 + - 0 + - 0.4025 + sensors: + camera: + depth_min: -3.0 + height: 512 + origin: + - 1.5 + - 0 + - 1.5 + sensor_type: camera + sim_handle: 0 + target: + - -1.5 + - 0 + - 0 + width: 512 + spacing: 2.0 +log_interval: 1 +log_only_behavior_intervals: true +log_only_success: true +look_at_env: 0 +n_demos: 100 +n_envs: 16 +n_steps: -1 +open_loop: false +publish_ros: false +randomize_robot: true +run_forever: false +sim: + asset_root: /home/adam/isaac_ws/src + compute_device_id: 0 + device: cpu + dt: 0.016666666666666666 + graphics_device_id: 0 + headless: false + n_threads: 0 + physics_engine: SIM_PHYSX + render_graphics: true + substeps: 2 + use_gpu: false +task: + behavior: + behavior_type: '' + behaviors: + - allow_bottom_grasps: false + allow_side_grasps: false + allow_top_grasps: true + behavior_type: PickPlaceObject + behaviors: [] + cartesian_path: false + disable_collisions: [] + ignore_error: true + lift_offset: + - 0.0 + - 0.0 + - 0.2 + lift_offset_choices: null + lift_offset_ranges: null + max_acc_factor: 0.1 + max_plan_attempts: 1 + max_vel_factor: 0.3 + min_cartesian_pct: 0.8 + name: pick_place + place_approach_height: 0.1 + place_orientation: null + place_position: + - 0.0 + - 0.0 + - 0.0 + place_position_ranges: + - - 0.3 + - 0.7 + - - -0.3 + - 0.3 + - - 0.44 + - 0.8 + planning_time: 1.0 + remove_aligned_short_bb_face: false + target_object: block + wait_after_behavior: 20 + cartesian_path: false + disable_collisions: [] + ignore_error: false + max_acc_factor: 0.1 + max_plan_attempts: 1 + max_vel_factor: 0.3 + min_cartesian_pct: 1.0 + name: pick_place + planning_time: 1.0 + wait_after_behavior: 20 + extra_steps: 200 + include_depth_in_state: false + include_rgb_in_state: false + task_type: pick_place +viewer_origin: null +viewer_target: null