File size: 3,454 Bytes
adf2e22 | 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 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 | scene:
cameras: # Configure camera position and pose
- name: "opst_cam"
position: [1, 0, 0.6]
rotation: [0, 60, 90]
prim_path: "/Robot/OppositeCamera"
- name: "side_cam"
position: [0.5, 1, 0.35]
rotation: [-90, 0, 180]
prim_path: "/Robot/SideCamera"
objects: # Configure object
n_objects: 1 # number of objects in simulation
mass: 0.05 # mass of object
prob_rnd_quat: 0.85 # probability of object having random orientation. Otherwise it will have default orientation.
prob_static: 0.5 # probability of object being static. Otherwise it will be moving.
moving_speed: [0.15, 0.75] # range of speed for moving objects, generated uniformly random
# moving_speed: [0.05, 0.25]
friction: [0.5, 1.5] # range of friction for objects, generated uniformly random
perturbation: # configure perturbation for objects. Delete this if you don't intend to introduce perturbation for objects.
# force: [0.001, 0.005]
# torque: [0.0005, 0.0025]
tag_thresholds: # configure thresholds for tag generation. If the value difference between two objects is less than the threshold, the value is considered same, thus also the rank.
height: 0.1
area: 0.1
volume: 0.1
position_from_left: 0.1
position_from_bottom: 0.1
distance_from_robot: 0.3
velocity: 0.2
categories: # configure available categories of objects. All objects are randomly selected from available items whose category is in this list. Must exist in the objects directory.
- apple
- avocado
- beer
- bottle
- can
- cup
- egg
- kiwi
- lemon
- lime
- onion
- orange
- peach
- potato
- tangerine
- tomato
# - unseen
containers: # Configure containers
n_containers: 1 # number of containers
mass: 0.1 # mass of container
categories: # configure available categories of containers. Must exist in the objects directory.
- bowl
- box
- plate
- placemat
- tray
camera:
width: 480
height: 360
fps: 25
focal_length: 2.3
focus_distance: 400
horizontal_aperture: 4.6
clip:
near: 0.01
far: 10000
data_types:
- rgb
- semantic_segmentation
# - depth
lighting: # lighting configuration, config for each scene is selected randomly in the respective range.
temperature: [4000, 8000]
intensity: [150, 750]
position:
x: [-50, 50]
y: [-50, 50]
z: [10, 20]
tasks: # configure task behaviour
pick:
sm: "state_machines.pick_sm.PickStateMachine" # selects the state machine to run when generating scenes executing the respective task
episode_length: 10 # max episode length, terminating with failure if exceeded
place:
sm: "state_machines.place_sm.PlaceStateMachine"
episode_length: 12
long-horizon:
sm: "state_machines.place_sm.PlaceStateMachine"
episode_length: 20
robots: # configure robots in simulation
franka:
init_pose: [0.465906, 0.0, 0.382970, 0.008583, 0.921765, 0.020404, 0.387116]
final_pose: [0.3, 0, 0.3, -1, 0, 0, 0]
gripper_length: 0.045
max_reach_dist: 0.75
piper:
init_pose: [0.373, 0.0, 0.271, 0.0, 0.9739, 0.0, 0.227]
final_pose: [0.373, 0.0, 0.271, -1, 0, 0, 0]
gripper_length: 0.09
max_reach_dist: 0.55
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