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config.yaml
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common:
lr: 0.001
batch_size: 100
eval_episodes: 5
eval_freq: 50
expert_network: 256,256
num_demos: 0
max_timesteps: 1000000
max_path_length: 150
usd_name: mugandbenchv2
usd_path: /data/pulkitag/misc/marcel/digital-twin/policy_learning/assets/objects/
euler_rot: True
seed: 0
datafolder: /scratch/marcel/data/online_distill/
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
pcd_encoder_type: "dense_conv" #"resnet"
pool: "avg"
distractor_paths: []
model_from_disk: False
use_synthetic_pcd: False
presample_arm_pcd: False
sample_action: False
random_augmentation: True
wandb_dir: /data/scratch-oc40/pulkitag/marcel/
presample_arm_pcd: True
unet3d:
num_levels: 3
f_maps: 32
in_channels: 32
out_channels: 64 #32,
plane_resolution: 128
max_grad_norm: 5.0
pcd_normalization: [0.35, 0.0, 0.4]
pcd_scene_scale: 1.0
plane_type: "grid" # grid_and_planes; planes
decimation: 20
gpu_total_aggregate_pairs_capacity: 1048576 # 1024*1024
ppo_batch_size: 31257
ppo_epochs: 10
gripper_force: 100
max_videos: 1
crop_min : [-0.3, -0.6, 0.02]
crop_max : [0.9, 0.6, 1]
cam_idx: 2
add_synthetic_distractors: False
one_object: False
pretrain_steps: 0
floor_height: -0.5
dense_reward: False
real_franka_params:
total_loop_time : 0.75
interp_steps: 100
start_interp_offset : 10
nb_open: 7
gripper_force: 80
toynbowl:
env_name: isaac-env
camera_pos_rand: [0,0,0] #[0.1,0.76,0.18]
camera_target_rand: [0,0,0]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
# sensors: ["pointcloud", "rgb"]
sensors: ["distance_to_image_plane"]
# sensors_train: ["distance_to_image_plane"]
# sensors: ["rgb", "pointcloud"]
max_path_length: 110
env_type: "toynbowl"
usd_name: toynbowl.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
camera_rot: [[0.8235880575406567, 0.3403315789823766, -0.17190185740958802, -0.4199129424570097]]
camera_pos: [[-0.014154496328833584,-0.5024633728148657,0.6852607985477838]]
mesh_names: ["Object_263","Object_269", "Object_272"] # scene, bowl, toy
foldermeshname: "toynbowlmesh"
pcd_normalization: [0,0,0]
pcd_scene_scale: 0.5
crop_min : [-1,-1,-1]
crop_max : [1,1,1]
cam_idx: 1
floor_height: -2
toycarnbowl:
env_name: isaac-env
camera_pos_rand: [0,0,0] #[0.1,0.76,0.18]
camera_target_rand: [0,0,0]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
# sensors: ["pointcloud", "rgb"]
sensors: ["distance_to_image_plane"]
# sensors_train: ["distance_to_image_plane"]
# sensors: ["rgb", "pointcloud"]
max_path_length: 110
env_type: "toycarnbowl"
usd_name: toycarnbowl.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
camera_rot: [[0.8235880575406567, 0.3403315789823766, -0.17190185740958802, -0.4199129424570097]]
camera_pos: [[-0.014154496328833584,-0.5024633728148657,0.6852607985477838]]
mesh_names: ["Object_263","Object_269", "Object_272"] # scene, bowl, toy
foldermeshname: "toycarnbowlmesh"
pcd_normalization: [0,0,0]
pcd_scene_scale: 0.5
crop_min : [-1,-1,-1]
crop_max : [1,1,1]
cam_idx: 1
floor_height: -2
gpu_total_aggregate_pairs_capacity: 67108864 # 1024*1024
toycarnbowl_low_randomness:
orientation_min_bound : [[0, 0, -2]] #-0.52
orientation_max_bound : [ [0, 0, 2]] #0.52
randomize_object_name : [["Object_263", "Object_269", "Object_272"]] # scene, bowl, toy
position_min_bound : [[[-0.1, 0.1, 0.05], [-0.2,-0.2,0], [-0.2,-0.2,0]]] # position (x,y,z)
position_max_bound : [[[-0.1, 0.1, 0.05], [0.2,0.2,0], [0.2,0.2,0]]] # position (x,y,z)
toycarnbowl_very_low_randomness:
orientation_min_bound : [[0, 0, 0]] #-0.52
orientation_max_bound : [ [0, 0, 0]] #0.52
randomize_object_name : [["Object_263", "Object_269", "Object_272"]] # scene, bowl, toy
position_min_bound : [[[-0.1, 0.1, 0.05], [-0.07,-0.07,0], [-0.07,-0.07,0]]] # position (x,y,z)
position_max_bound : [[[-0.1, 0.1, 0.05], [0.07,0.07,0], [0.07,0.07,0]]] # position (x,y,z)
toycarnbowl_randomness:
orientation_min_bound : [[0, 0, -2]] #-0.52
orientation_max_bound : [ [0, 0, 2]] #0.52
randomize_object_name : [["Object_263", "Object_269", "Object_272"]] # scene, bowl, toy
position_min_bound : [[[-0.25, -0.1, -0.05], [-0.2,-0.2,0], [-0.2,-0.2,0]]] # position (x,y,z)
position_max_bound : [[[0.05, 0.3, 0.15], [0.2,0.2,0], [0.2,0.2,0]]] # position (x,y,z)
toynbowl_randomness:
orientation_min_bound : [[0, 0, -2]] #-0.52
orientation_max_bound : [ [0, 0, 2]] #0.52
randomize_object_name : [["Object_263", "Object_269", "Object_272"]] # scene, bowl, toy
position_min_bound : [[[-0.25, -0.1, -0.05], [-0.2,-0.2,0], [-0.2,-0.2,0]]] # position (x,y,z)
position_max_bound : [[[0.15, 0.3, 0.15], [0.2,0.2,0], [0.2,0.2,0]]] # position (x,y,z)
cupntrash_randomness:
orientation_min_bound : [[0, 0]] #-0.52
orientation_max_bound : [ [0, 0]] #0.52
randomize_object_name : [["Object_263", "Object_266"]] # scene, cup
position_min_bound : [[[-0.2, -0.3, -0.2], [-0.2,-0.12,0]]] # position (x,y,z)
position_max_bound : [[[0.2, 0.1, 0.2], [0.2,0.2,0]]] # position (x,y,z)
cupntrash_mid_randomness:
orientation_min_bound : [[0, 0]] #-0.52
orientation_max_bound : [ [0, 0]] #0.52
randomize_object_name : [["Object_263", "Object_266"]] # scene, cup
position_min_bound : [[[-0.15, -0.25, -0.1], [-0.2,-0.12,0]]] # position (x,y,z)
position_max_bound : [[[0.15, 0.05, 0.1], [0.2,0.2,0]]] # position (x,y,z)
ppo_vision:
num_points: 5300
ppo_batch_size: 16
real_franka_params:
total_loop_time : 0.75
interp_steps: 100
start_interp_offset : 10
nb_open: 7
gripper_force: 80
teleop_params:
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0.0,0]
img_height: 1024
img_width: 1024
num_cameras: 4
render_images: True
num_envs: 1
sensors: ["rgb", "pointcloud", "distance_to_image_plane"]
isaac-env:
epsilon_greedy_rollout: 0.25
max_timesteps: 10000000
max_path_length: 35
stopped_thresh: 0.05
start_frontier: 40
frontier_expansion_rate: 5
frontier_expansion_freq: 10
select_goal_from_last_k_trajectories: 10
label_from_last_k_steps: 50
label_from_last_k_trajectories: 50
repeat_previous_action_prob: 0.2
continuous_action_space: False
usd_name: kitchenv3open.usd
pretrain_policy: False
pretrain_goal_selector: False
demo_epochs: 0
num_demos: 0
eval_freq: 50
display_trajectories_freq: 1
explore_length: 10
explore_episodes: 5
img_width: 512
img_height: 512
randomize_pos: True
randomize_rot: True
isaac-env-demos:
max_timesteps: 10000000
max_path_length: 35
stopped_thresh: 0.1 # TODO
start_frontier: 40
frontier_expansion_rate: 5
frontier_expansion_freq: 10
select_goal_from_last_k_trajectories: 10
label_from_last_k_steps: 50
label_from_last_k_trajectories: 50
repeat_previous_action_prob: 0.2
continuous_action_space: False
usd_name: kitchenv3open.usd
pretrain_policy: True
pretrain_goal_selector: True
num_demos_goal_selector: 1000
demo_epochs: 10000
num_demos: 5
eval_freq: 10
eval_episodes: 5
display_trajectories_freq: 1
explore_length: 10
explore_episodes: 0
img_width: 512
img_height: 512
num_demos_goal_selector: 50
randomize_pos: True
randomize_rot: True
teacher_student_distillation:
# sensors: ["rgb", "pointcloud"]
sensors: ["rgb","pointcloud"]
img_width: 512
img_height: 512
fourier: False
rgb_feats : False
mixed_precision : False
log_interval : 10
pad_points : False
num_points : 6000
downsample : True
act_dim : 14
folder_name: demos/isaac-env/kitchenv3close.usd_04_09_2023_10:15:47
randomize_pos: True
randomize_rot: True
network_layers: 256,256
camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
camera_target_rand: [0.1,0.1,0.1]
camera_target: [0.2,0,0]
continuous_action_space: False
num_envs: 7
num_cameras: 1
max_path_length: 25
random_augmentation: False
std_noise: False
arm_num_points: 10000
add_arm_pointcloud: True
num_points_internal: 10000
dropout: 0
policy_train_steps: 2000000
num_cameras: 1
render_images: True
sampling_expert: 1
lr: 0.0003
pool: max
pcd_encoder: dense_conv
policy_bc_epochs: 1
layers: [256,256]
policy_batch_size: 64
eval_freq: 10
use_state: True
teacher_from_state: True
voxel_size: 0.01
num_trajs_per_step: 1
num_trajs_eval: 20
max_demos: 20000
cupntrash:
env_name: isaac-env
camera_pos_rand: [0,0,0] #[0.1,0.76,0.18]
camera_target_rand: [0,0,0]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
# sensors: ["pointcloud", "rgb"]
sensors: ["distance_to_image_plane"]
# sensors_train: ["distance_to_image_plane"]
# sensors: ["rgb", "pointcloud"]
max_path_length: 90
env_type: "cupntrash"
usd_name: cupntrash.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
camera_rot: [[0.8235880575406567, 0.3403315789823766, -0.17190185740958802, -0.4199129424570097]]
camera_pos: [[-0.014154496328833584,-0.5024633728148657,0.6852607985477838]]
mesh_names: ["Object_263", "Object_266"] # scene, cup
foldermeshname: "cupntrashmesh"
pcd_normalization: [0,0,0]
pcd_scene_scale: 0.5
crop_min : [-1,-1,-1]
crop_max : [1,1,1]
cam_idx: 1
state_teacher_student_distillation:
policy_train_steps: 2000000
img_width: 512
img_height: 512
fourier: False
rgb_feats : False
mixed_precision : False
log_interval : 10
pad_points : False
num_points : 6000
downsample : True
act_dim : 14
folder_name: demos/isaac-env/kitchenv3close.usd_04_09_2023_10:15:47
randomize_pos: True
randomize_rot: True
network_layers: 256,256
camera_pos: [[0.94,-0.63,0.94],[0.29774,-1.65697,0.73069],[0.4868,1.92378,0.68305],[0.35839,0.21813,2.80389]]
#camera_rot: [[-0.57102,-0.35844,0.39266,0.62552],[0.76995,0.63741,-0.019,-0.02294],[-0.02434,-0.02242,0.67721,0.73504],[0.70858,0.0198,-0.01971,-0.70507]]
camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
camera_target_rand: [0.1,0.1,0.1]
camera_target: [0.2,0,0]
continuous_action_space: False
num_envs: 100
num_cameras: 0
random_augmentation: False
std_noise: False
render_images: False
sampling_expert: 1
policy_batch_size: 1024
eval_freq: 10
use_state: True
teacher_from_state: True
num_trajs_per_step: 5
num_trajs_eval: 20
policy_bc_epochs: 1
wooden_drawer_final:
max_path_length: 50
env_type: "drawer_new"
camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
randomize_action_mag: [0.02, 0.02, 0.02, 0.05, 0.05, 0.05]
usd_name: drawer_wooden_final.usd
camera_pos: [[0.99,-0.61,0.63]]
camera_pos_rand: [0.2,0.2,0.2] #[0.1,0.76,0.18]
camera_target_rand: [0.1,0.1,0.1]
camera_target: [0.2,0,0]
wooden_drawer_final2:
max_path_length: 60
env_type: "drawer_new"
# camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
randomize_action_mag: [0,0,0,0,0,0]
usd_name: drawer_wooden_final.usd
camera_pos: [[0.99,-0.61,0.63]]
camera_pos_rand: [0, 0, 0] #[0.1,0.76,0.18]
camera_target_rand: [0, 0, 0]
camera_target: [0.2,0,0]
img_width: 240
img_height: 320
num_cameras: 1
arm_num_points: 10000
add_arm_pointcloud: True
num_points_internal: 10000
sensors: ["distance_to_image_plane"]
wooden_drawer_final_small:
max_path_length: 60
env_type: "drawer_new"
# camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
randomize_action_mag: [0,0,0,0,0,0]
usd_name: drawersmall.usd
camera_pos: [[0.99,-0.61,0.63]]
camera_pos_rand: [0, 0, 0] #[0.1,0.76,0.18]
camera_target_rand: [0, 0, 0]
camera_target: [0.2,0,0]
img_width: 240
img_height: 320
num_cameras: 1
arm_num_points: 10000
add_arm_pointcloud: True
num_points_internal: 10000
sensors: ["distance_to_image_plane"]
wooden_drawer_finalbigger2:
max_path_length: 60
env_type: "drawer_new"
# camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
randomize_action_mag: [0,0,0,0,0,0]
usd_name: drawertest2.usd
camera_pos: [[0.99,-0.61,0.63]]
camera_pos_rand: [0, 0, 0] #[0.1,0.76,0.18]
camera_target_rand: [0, 0, 0]
camera_target: [0.2,0,0]
img_width: 240
img_height: 320
num_cameras: 1
arm_num_points: 10000
add_arm_pointcloud: True
num_points_internal: 10000
sensors: ["distance_to_image_plane"]
wooden_drawer_simplified:
max_path_length: 60
env_type: "drawer_new"
# camera_pos_rand: [0.1,0.1,0.1] #[0.1,0.76,0.18]
randomize_action_mag: [0,0,0,0,0,0]
usd_name: wooden_drawer_final_simplified.usd
camera_pos: [[0.99,-0.61,0.63]]
camera_pos_rand: [0, 0, 0] #[0.1,0.76,0.18]
camera_target_rand: [0, 0, 0]
camera_target: [0.2,0,0]
img_width: 240
img_height: 320
num_cameras: 1
arm_num_points: 10000
add_arm_pointcloud: True
num_points_internal: 10000
sensors: ["distance_to_image_plane"]
wooden_drawer_bigger:
env_name: isaac-env
max_path_length: 60
env_type: "drawer_bigger"
camera_pos_rand: [0,0,0] #[0.1,0.76,0.18]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
usd_name: drawerbiggerhandle.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
camera_target: [0.2,0,0]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
# sensors: ["pointcloud", "rgb"]
sensors: ["distance_to_image_plane"]
foldermeshname: "drawerbiggermesh"
mesh_names: ["Object_266", "Object_268"]
# sensors_train: ["distance_to_image_plane"]
# sensors: ["rgb", "pointcloud"]
dishnrack:
max_path_length: 150
env_type: "dishnrack"
usd_name: white_dishrack_objaverse_plate.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_278", "Object_270", "Object_287"]
foldermeshname: "dishnrackmesh"
dishnrackv2:
max_path_length: 150
env_type: "dishnrack"
usd_name: dishinrackv4.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_278", "Object_270", "Object_287"]
foldermeshname: "dishnrackmeshv2"
dishsinklabnonorm:
n_steps: 110
env_type: "dishsinklab"
usd_name: dishsinklab.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.8235880575406567, 0.3403315789823766, -0.17190185740958802, -0.4199129424570097]]
camera_pos: [[-0.014154496328833584,-0.5024633728148657,0.6852607985477838]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_263", "Object_278", "Object_270"]
foldermeshname: "dishsinklabmeshv2"
floor_height: -2
dishsinklab:
max_path_length: 110
n_steps: 110
env_type: "dishsinklab"
usd_name: dishsinklab.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.8235880575406567, 0.3403315789823766, -0.17190185740958802, -0.4199129424570097]]
camera_pos: [[-0.014154496328833584,-0.5024633728148657,0.6852607985477838]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_263", "Object_278", "Object_270"]
foldermeshname: "dishsinklabmeshv2"
floor_height: -2
pcd_normalization: [0,0,0]
pcd_scene_scale: 0.625
crop_min : [-0.8,-0.8,-0.8]
crop_max : [0.8,0.8,0.8]
cam_idx: 1
dishsinklab_randomness:
orientation_min_bound : [[0, -0.3, 0]] #-0.52
orientation_max_bound : [ [0, 0.3, 0]] #0.52
randomize_object_name : [["Object_263", "Object_278", "Object_270"]] # scene, dishrack, plate
position_min_bound : [[[-0.25, -0.1, -0.1], [-0.1,0.05,0], [-0.2,0,0]]] # position (x,y,z)
position_max_bound : [[[0.1, 0.2, 0.1], [0.1,0.15,0], [0,0,0]]] # position (x,y,z)
dishsinklab_low_randomness:
orientation_min_bound : [[0, -0.3, 0]] #-0.52
orientation_max_bound : [ [0, 0.3, 0]] #0.52
randomize_object_name : [["Object_263", "Object_278", "Object_270"]] # scene, dishrack, plate
position_min_bound : [[[-0.0725, 0.05, 0], [-0.1,0.05,0], [-0.2,0,0]]] # position (x,y,z)
position_max_bound : [[[-0.0725, 0.05, 0], [0.1,0.15,0], [0,0,0]]] # position (x,y,z)
dishsinklab_mid_randomness:
orientation_min_bound : [[0, -0.3, 0]] #-0.52
orientation_max_bound : [ [0, 0.3, 0]] #0.52
randomize_object_name : [["Object_263", "Object_278", "Object_270"]] # scene, dishrack, plate
position_min_bound : [[[-0.1, 0, -0.05], [-0.1,0.05,0], [-0.2,0,0]]] # position (x,y,z)
position_max_bound : [[[0, 0.1, 0.05], [0.1,0.15,0], [0,0,0]]] # position (x,y,z)
dishnrack_mid_randomness:
position_min_bound : [[[-0.4, -0.035, 0]], [[-0.4, -0.035, 0]]] # position (x,y,z)
position_max_bound : [[[0, 0.25, 0]], [[0., 0.25, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.1], [0]] #-0.52
orientation_max_bound : [ [0.1], [0]] #0.52
randomize_object_name : [["Object_278"], ["Object_270", "Object_287"]] # rack ; (plate, box)
dishnrack_high_randomness:
position_min_bound : [[[-0.4, -0.035, 0]], [[-0.4, -0.035, 0]]] # position (x,y,z)
position_max_bound : [[[0, 0.25, 0]], [[0., 0.25, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.52], [0]] #-0.52
orientation_max_bound : [ [0.52],[ 0]] #0.52
randomize_object_name : [["Object_278"], ["Object_270", "Object_287"]] # rack ; (plate, box)
booknshelve:
max_path_length: 110
env_type: "booknshelve"
usd_name: booknshelve.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
total_objects: 6
object_idxs: [1,2,3]
mesh_names: ["Object_268", "Object_272", "Object_277"]
foldermeshname: "booknshelvemesh"
kitchentoaster:
max_path_length: 110
env_type: "kitchentoaster"
usd_name: kitchentoaster3.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.8247277703634452,0.33999921029948027,-0.19855538249061805,-0.4059561575725569]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[-0.00831402031544193,-0.37367157218965213,0.6853374666303969]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_267", "Object_270" , "Object_282"]
foldermeshname: "kitchentoastermesh"
pcd_normalization: [0,0,0]
pcd_scene_scale: 0.625
crop_min : [-0.8,-0.8,-0.8]
crop_max : [0.8,0.8,0.8]
cam_idx: 1
toaster:
max_path_length: 110
env_type: "kitchentoaster"
usd_name: onlytoaster.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7827027004326129, 0.3556666038579866, 0.2135058709, 0.4639967]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.949481758014562,-0.40073660319996435,0.6836547497312322]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_267", "Object_270"]
foldermeshname: "onlytoaster"
cabinet:
max_path_length: 110
env_type: "cabinet"
usd_name: cabinet.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_268", "Object_266" , "Object_271"]
foldermeshname: "cabinetmesh"
mugupright:
max_path_length: 110
env_type: "mugupright"
usd_name: mugupright.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_262"]
foldermeshname: "muguprightmesh"
mugandshelf:
max_path_length: 100
decimation: 30
env_type: "mugandshelf"
usd_name: mugandshelf2.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_263", "Object_267"]
foldermeshname: "mugandshelfmesh"
booknshelve2:
usd_name: booknshelve2.usd
kitchentoaster_randomness:
position_min_bound : [[[0.3, -0.2, -0.2]]] # position (x,y,z)
position_max_bound : [[[0.7, 0.1, 0.2]]] # position (x,y,z)
orientation_min_bound : [[-0.1]] #-0.52
orientation_max_bound : [ [0.1]] #0.52
randomize_object_name : [["Object_267"]] # shelve ; (book, box) # site shelve 280 site book 279
toaster_randomness:
position_min_bound : [[[0.3, -0.2, -0.2]]] # position (x,y,z)
position_max_bound : [[[0.7, 0.2, 0.2]]] # position (x,y,z)
orientation_min_bound : [[-1]] #-0.52
orientation_max_bound : [ [1]] #0.52
randomize_object_name : [["Object_267"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve_debug_low_randomness:
position_min_bound : [[[-0.05, 0.08, 0]], [[0.05, 0.05, 0]]] # position (x,y,z)
position_max_bound : [[[-0.05, 0.08, 0]], [[0.05, 0.05, 0]]] # position (x,y,z)
orientation_min_bound : [[0], [0]] #-0.52
orientation_max_bound : [ [0], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve_debug_mid_randomness:
position_min_bound : [[[-0.15, -0.02, 0]], [[-0.05, -0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0.05, 0.18, 0]], [[0.15, 0.15, 0]]] # position (x,y,z)
orientation_min_bound : [[0], [0]] #-0.52
orientation_max_bound : [ [0], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve_debug_high_randomness:
position_min_bound : [[[-0.25, -0.12, 0]], [[-0.15, -0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0.15, 0.28, 0]], [[0.15, 0.15, 0]]] # position (x,y,z)
orientation_min_bound : [[0], [0]] #-0.52
orientation_max_bound : [ [0], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve_debug_high_rot_randomness:
position_min_bound : [[[-0.25, -0.12, 0]], [[-0.15, -0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0.15, 0.28, 0]], [[0.15, 0.15, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.52], [0]] #-0.52
orientation_max_bound : [ [0.52], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve2_debug_low_randomness:
position_min_bound : [[[-0.1, 0., 0]], [[0.04, -0.18, 0]]] # position (x,y,z)
position_max_bound : [[[-0.1, 0., 0]], [[0.04, -0.18, 0]]] # position (x,y,z)
orientation_min_bound : [[0], [0]] #-0.52
orientation_max_bound : [ [0], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
mugandshelf_low_randomness:
position_min_bound : [[[0, 0., 0]], [[0.1, 0, 0]]] # position (x,y,z)
position_max_bound : [[[0, 0., 0]], [[0.1, 0, 0]]] # position (x,y,z)
orientation_min_bound : [[0], [0]] #-0.52
orientation_max_bound : [[ 0], [0]] #0.52
randomize_object_name : [["Object_267"], ["Object_263"]] # shelve ; mug # site shelve 280 site book 279
mugandshelf_mid_randomness:
position_min_bound : [[[-0.3, 0., 0]], [[-0.1, -0.25, 0]]] # position (x,y,z)
position_max_bound : [[[0.25, 0.3, 0]], [[0.4, 0.4, 0]]] # position (x,y,z)
orientation_min_bound : [0, 0] #-0.52
orientation_max_bound : [ 0, 0] #0.52
randomize_object_name : [["Object_267"], ["Object_263"]] # shelve ; mug # site shelve 280 site book 279
mugandshelf_mid_rot_randomness:
position_min_bound : [[[-0.3, 0., 0]], [[-0.1, -0.25, 0]]] # position (x,y,z)
position_max_bound : [[[0.25, 0.3, 0]], [[0.4, 0.4, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.52], [-1.54]] #-0.52
orientation_max_bound : [ [0.52], [1.54]] #0.52
randomize_object_name : [["Object_267"], ["Object_263"]] # shelve ; mug # site shelve 280 site book 279
mugandshelf_high_rot_randomness:
position_min_bound : [[[-0.3, 0., 0]], [[-0.1, -0.25, 0]]] # position (x,y,z)
position_max_bound : [[[0.25, 0.3, 0.07]], [[0.4, 0.4, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.52], [-0.54]] #-0.52
orientation_max_bound : [ [0.52], [0.54]] #0.52
randomize_object_name : [["Object_267"], ["Object_263"]] # shelve ; mug # site shelve 280 site book 279
cabinet_mid_randomness:
position_min_bound : [[[-0.5, -0.1, 0.1]]] # position (x,y,z)
position_max_bound : [[[0, 0.3, -0.01]]] # position (x,y,z)
orientation_min_bound : [[0]] #-0.52
orientation_max_bound : [ [0]] #0.52
randomize_object_name : [["Object_268"]] # shelve ; mug # site shelve 280 site book 279
cabinet_mid_rot_randomness:
position_min_bound : [[[-0.5, -0.1, 0.1]]] # position (x,y,z)
position_max_bound : [[[0, 0.3, -0.01]]] # position (x,y,z)
orientation_min_bound : [[-0.52]] #-0.52
orientation_max_bound : [[ 0.52]] #0.52
randomize_object_name : [["Object_268"]] # shelve ; mug # site shelve 280 site book 279
booknshelve_low_randomness:
position_min_bound : [[[-0.1, 0.10, 0]], [[0.1, 0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0., 0.15, 0]], [[0.15, 0.15, 0]]] # position (x,y,z)
orientation_min_bound : [[0], [0]] #-0.52
orientation_max_bound : [ [0], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve_mid_randomness:
position_min_bound : [[[-0.2, 0.0, 0]], [[0.05, 0.0, 0]]] # position (x,y,z)
position_max_bound : [[[0.1, 0.25, 0]], [[0.2, 0.2, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.1], [-0.1]] #-0.52
orientation_max_bound : [ [0.1], [0.1]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
booknshelve_high_randomness:
position_min_bound : [[[-0.25, -0.05, 0]], [[0.0, -0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0.15, 0.3, 0]], [[0.25, 0.25, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.52], [0]] #-0.52
orientation_max_bound : [ [0.52], [0]] #0.52
randomize_object_name : [["Object_277"], ["Object_268", "Object_272"]] # shelve ; (book, box) # site shelve 280 site book 279
mugnrack:
max_path_length: 110
env_type: "mugnrack"
usd_name: mugnrack.usd
usd_path: /data/pulkitag/misc/marcel/USDAssets/scenes
add_arm_pointcloud: True
env_name: isaac-env
camera_pos_rand: [0,0,0]
camera_target_rand: [0,0,0]
camera_rot: [[0.7817506474817165,0.3661583874245533,0.1983648965534382,0.4641608862193277]]
randomize_action_mag: [0.01, 0.01, 0.01, 0.03, 0.03, 0.03]
camera_pos: [[0.9574614319494098,-0.41018981238847413,0.6868063410928846]]
voxel_size: 0.005
num_points: 6000
num_points_internal: 5000
arm_num_points: 3000
img_width: 480
img_height: 640
num_cameras: 1
sensors: ["distance_to_image_plane"]
mesh_names: ["Object_262", "Object_266"]
foldermeshname: "mugnrackmesh"
mugnrack_low_randomness:
position_min_bound : [[[0, 0.10, 0]], [[0.1, 0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0.1, 0.15, 0]], [[0.15, 0.15, 0]]] # position (x,y,z)
orientation_min_bound : [[0],[ 0]] #-0.52
orientation_max_bound : [ [0], [0]] #0.52
randomize_object_name : [["Object_266"], ["Object_262"]] # rack ; mug
mugnrack_mid_randomness:
position_min_bound : [[[-0.1, 0.0, 0]], [[0., -0.05, 0]]] # position (x,y,z)
position_max_bound : [[[0.2, 0.25, 0]], [[0.25, 0.25, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.2], [-0.2]] #-0.52
orientation_max_bound : [ [0.2], [0.2]] #0.52
randomize_object_name : [["Object_266"], ["Object_262"]] # rack ; mug
mugnrack_high_randomness:
position_min_bound : [[[-0.15, -0.05, 0]], [[-0.05, -0.1, 0]]] # position (x,y,z)
position_max_bound : [[[0.25, 0.3, 0]], [[0.3, 0.3, 0]]] # position (x,y,z)
orientation_min_bound : [[-0.52], [-0.52]] #-0.52
orientation_max_bound : [ [0.52],[ 0.52]] #0.52
randomize_object_name : [["Object_266"], ["Object_262"]] # rack ; mug
rnn:
policy_batch_size: 2
hidden_size: 256
drawer_high_randomness:
position_min_bound : [[[-0.4, -0.1, -0.1]]] # position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0.2, 0.3, 0.1]]] # position (x,y,z)
orientation_min_bound : [[-0.32]] #-0.52
orientation_max_bound : [[0.32]] #0.52
randomize_object_name : [["Object_268"]]
drawer_mid_randomness:
position_min_bound : [[[-0.3, -0.0, -0.1]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0.2, 0.25, 0.1]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[-0.6]] #
orientation_max_bound : [[0.6]] #
randomize_object_name : [["Object_268"]]
drawer_debug_randomness:
# position_min_bound : [[0.07,-0.03,0]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
# position_max_bound : [[0.07,-0.03,0]] # 0.2, 0.25, 0.05position (x,y,z)
position_min_bound : [[[-0.06,0.07,0]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[-0.06,0.07,0]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[0]] #
orientation_max_bound : [[0]] #
randomize_object_name : [["Object_268"]]
drawer_debug_more_randomness:
# position_min_bound : [[0.07,-0.03,0]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
# position_max_bound : [[0.07,-0.03,0]] # 0.2, 0.25, 0.05position (x,y,z)
position_min_bound : [[[-0.16,-0.07,0]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0.06,0.17,0]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[0.1]] #
orientation_max_bound : [[0.1]] #
randomize_object_name : [["Object_268"]]
drawer_debug_low_randomness:
position_min_bound : [[[0,0,0]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0,0,0]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[0]] #
orientation_max_bound : [[0]] #
randomize_object_name : [["Object_268"]]
drawer_debug_little_randomness:
position_min_bound : [[[-0.06,-0.05,-0.05]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0,0.05,0.0]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[0]] #
orientation_max_bound : [[0]] #
randomize_object_name : [["Object_268"]]
drawer_debug_mid_randomness:
position_min_bound : [[[-0.16,-0.1,-0.05]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0.06,0.17,0.0]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[-0.1]] #
orientation_max_bound : [[0.1]] #
randomize_object_name : [["Object_268"]]
drawer_debug_high_prev_randomness:
position_min_bound : [[[-0.26,-0.07,0]]] # -0.3, -0.1, -0.05 position (x,y,z) # TODO: change to -0.15
position_max_bound : [[[0.16,0.27,0.05]]] # 0.2, 0.25, 0.05position (x,y,z)
orientation_min_bound : [[-0.5]] #
orientation_max_bound : [[0.5]] #
randomize_object_name : [["Object_268"]]
drawer_debug_high_randomness: