Add files using upload-large-folder tool

.gitattributes

@@ -57,3 +57,9 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usd filter=lfs diff=lfs merge=lfs -text
+scenes/scene_usds/debug_scenes/banana_plate_scenes/base/Downloads/brown_photostudio_02_4k.exr filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text

scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0e5079b3c12f20368875b684de5987d4a9422f86ab48cff3c115c861accb57d
+size 11513215

scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda

@@ -0,0 +1,78 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary omni_layer = {
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+            float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
+            float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
+            float3 "rtx:index:backgroundColor" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMax" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMin" = (0, 0, 0)
+            float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gain" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:offset" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:saturation" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gain" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:lift" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:multiply" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:offset" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1)
+            float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2)
+            float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75)
+            float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50)
+            float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1)
+            float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32)
+            float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
+            float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
+            float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
+            double "rtx:translucency:worldEps" = 0.005
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1.0
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Render" (
+    hide_in_stage_window = true
+)
+{
+}
+
+def Xform "World"
+{
+    def "_instance" (
+        prepend payload = @./instance.usd@
+    )
+    {
+        float3 xformOp:rotateXYZ = (0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+    }
+}
+
+def Xform "Environment"
+{
+    double3 xformOp:rotateXYZ = (0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+}

tasks/GenManip-Package-Basic/Minimal_Banana/000/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/000/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd66a960106820f4620f69122a79c0087293b28a647ab66f44739c9123c057b3
+size 4849

tasks/GenManip-Package-Basic/Minimal_Banana/001/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/002/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a4209a510299bf208d9a798724f685d461bc4dbd3834e042a243620a109dd4
+size 708608

tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/003/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d73d15efdf25437cf7f9c57edab9181385f737d05f0e797fae0de38b28bed1
+size 716800

tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/003/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a37e1083752067342f320d713b371d3f4e9bb1cc43e71e0df38f92882c5d9f0
+size 4849

tasks/GenManip-Package-Basic/Minimal_Banana/004/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/005/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/006/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/007/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/007/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42581f6dc68b9a370f534cc40c43a70b28af33ba42c13a75dce138662a8ab6ce
+size 4849

tasks/GenManip-Package-Basic/Minimal_Banana/008/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f4eee37ae1698d81a37ff2bbd09e7a539a79e7b6e90449be252cf70c0346f9
+size 716800

tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/009/config.yaml

@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance

tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f866522fa9450b38b407d60969c4a730b29bcf0300f5cbff6c21ff77c41f31
+size 720896

tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}

tasks/GenManip-Package-Basic/Minimal_Banana/009/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c3ee3fb10ebbf60e96900631bc90d855425c98182ec58e428b1ec699336920
+size 4849