diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher/000/config.yaml b/tasks/ebench/mobile_manip/dishwasher/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/000/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/001/config.yaml b/tasks/ebench/mobile_manip/dishwasher/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/001/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/002/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/003/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/004/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/005/config.yaml b/tasks/ebench/mobile_manip/dishwasher/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/005/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/006/config.yaml b/tasks/ebench/mobile_manip/dishwasher/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/006/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/007/config.yaml b/tasks/ebench/mobile_manip/dishwasher/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/007/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/010/config.yaml b/tasks/ebench/mobile_manip/dishwasher/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/010/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/011/config.yaml b/tasks/ebench/mobile_manip/dishwasher/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/011/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/012/config.yaml b/tasks/ebench/mobile_manip/dishwasher/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/012/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/013/config.yaml b/tasks/ebench/mobile_manip/dishwasher/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/013/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/015/config.yaml b/tasks/ebench/mobile_manip/dishwasher/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/015/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/016/config.yaml b/tasks/ebench/mobile_manip/dishwasher/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/016/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/017/config.yaml b/tasks/ebench/mobile_manip/dishwasher/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/017/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/018/config.yaml b/tasks/ebench/mobile_manip/dishwasher/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/018/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/019/config.yaml b/tasks/ebench/mobile_manip/dishwasher/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/019/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/020/config.yaml b/tasks/ebench/mobile_manip/dishwasher/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/020/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/021/config.yaml b/tasks/ebench/mobile_manip/dishwasher/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/021/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/022/config.yaml b/tasks/ebench/mobile_manip/dishwasher/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/022/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/023/config.yaml b/tasks/ebench/mobile_manip/dishwasher/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/023/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/024/config.yaml b/tasks/ebench/mobile_manip/dishwasher/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/024/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/025/config.yaml b/tasks/ebench/mobile_manip/dishwasher/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/025/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/026/config.yaml b/tasks/ebench/mobile_manip/dishwasher/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/026/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/027/config.yaml b/tasks/ebench/mobile_manip/dishwasher/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/027/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/028/config.yaml b/tasks/ebench/mobile_manip/dishwasher/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/028/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/029/config.yaml b/tasks/ebench/mobile_manip/dishwasher/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/029/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/030/config.yaml b/tasks/ebench/mobile_manip/dishwasher/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/030/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/031/config.yaml b/tasks/ebench/mobile_manip/dishwasher/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/031/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/033/config.yaml b/tasks/ebench/mobile_manip/dishwasher/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/033/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/034/config.yaml b/tasks/ebench/mobile_manip/dishwasher/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/034/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/035/config.yaml b/tasks/ebench/mobile_manip/dishwasher/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/035/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/036/config.yaml b/tasks/ebench/mobile_manip/dishwasher/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/036/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/037/config.yaml b/tasks/ebench/mobile_manip/dishwasher/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/037/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/038/config.yaml b/tasks/ebench/mobile_manip/dishwasher/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/038/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/039/config.yaml b/tasks/ebench/mobile_manip/dishwasher/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/039/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/040/config.yaml b/tasks/ebench/mobile_manip/dishwasher/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/040/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/041/config.yaml b/tasks/ebench/mobile_manip/dishwasher/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/041/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/042/config.yaml b/tasks/ebench/mobile_manip/dishwasher/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/042/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/043/config.yaml b/tasks/ebench/mobile_manip/dishwasher/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/043/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/044/config.yaml b/tasks/ebench/mobile_manip/dishwasher/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/044/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/045/config.yaml b/tasks/ebench/mobile_manip/dishwasher/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/045/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/046/config.yaml b/tasks/ebench/mobile_manip/dishwasher/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/046/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/047/config.yaml b/tasks/ebench/mobile_manip/dishwasher/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/047/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/048/config.yaml b/tasks/ebench/mobile_manip/dishwasher/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/048/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/049/config.yaml b/tasks/ebench/mobile_manip/dishwasher/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/049/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/051/config.yaml b/tasks/ebench/mobile_manip/dishwasher/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/051/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/052/config.yaml b/tasks/ebench/mobile_manip/dishwasher/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/052/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/053/config.yaml b/tasks/ebench/mobile_manip/dishwasher/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/053/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/054/config.yaml b/tasks/ebench/mobile_manip/dishwasher/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/054/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/055/config.yaml b/tasks/ebench/mobile_manip/dishwasher/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/055/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/058/config.yaml b/tasks/ebench/mobile_manip/dishwasher/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/058/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/059/config.yaml b/tasks/ebench/mobile_manip/dishwasher/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/059/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c315da7f7e9c6e3cd743e9f1b40bc0c60154b50 Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/001/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7220d897aacf3d881a94e28f244801223e72c781 Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/002/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4f22d5bc65742b8569393eb3d344eb7b7314132b Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/003/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..46ddb3be6374e175f9f6761c470a8fbf2e479429 Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/004/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b308399d7ac9f6ce230b23810928a6d2988e7939 Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/005/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e5505e8eeb978fa400e65ef2e413e0fb8c533feb Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/006/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b00a16654034e171a4d7ac300132ebe4c31fb3aa Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/007/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7eb47cc3b0c670d858f568e1b13dc21cd33c3a08 Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/008/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8ee3aa7b03f3ce1851a2a8c5d7a151f972a4428b Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/microwave_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79ec82d2d0888c87942eeb054cd4e79c9a7f2639 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/009/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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 + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..26d963b4399fde311bf8ca523032befd7c8dd614 Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/000/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/000/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/000/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/001/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/001/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/001/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/002/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/002/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/002/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..501e85bfab7c723ebf8f5a70dff294df08ba6d13 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/003/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40092fc56848b1379014e31ba00d14ea82e6bf84 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/003/config.yaml @@ -0,0 +1,156 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 60 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/003/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..392172e4a48c7236af8bda23de7cce731ae0b1e4 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/004/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/004/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/004/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/005/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/005/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/005/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/006/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/006/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/006/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..501e85bfab7c723ebf8f5a70dff294df08ba6d13 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/007/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/007/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/007/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/008/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/008/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/008/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/009/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/009/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/009/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/010/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/010/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/010/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/011/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/011/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/011/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/012/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/012/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/012/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/013/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/013/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/013/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/014/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/014/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/014/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/015/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/015/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/015/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/016/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/016/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/016/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/017/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/017/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/017/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/018/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/018/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/018/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/019/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/019/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/019/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/020/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/020/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/020/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/021/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/021/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/021/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/022/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/022/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/022/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/023/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/023/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/023/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/024/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/024/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/024/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/025/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/025/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/025/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/026/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/026/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/026/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/027/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/027/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/027/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/028/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/028/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/028/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/029/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/029/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/029/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/030/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/030/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/030/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/031/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/031/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/031/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/032/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/032/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/032/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/033/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/033/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/033/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/034/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/034/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/034/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/035/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/035/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/035/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/036/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/036/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/036/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/037/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/037/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/037/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/038/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/038/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/038/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/039/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/039/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/039/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/040/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/040/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/040/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/041/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/041/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/041/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/042/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/042/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/042/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/043/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/043/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/043/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/044/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/044/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/044/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/045/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/045/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/045/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/046/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/046/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/046/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/047/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/047/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/047/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/048/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/048/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/048/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/049/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/049/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/049/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/050/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/050/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/050/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/051/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/051/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/051/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/052/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/052/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/052/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/053/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/053/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/053/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/054/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/054/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/054/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/055/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/055/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/055/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/056/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/056/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/056/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/057/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/057/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/057/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/058/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/058/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/058/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder/059/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/059/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder/059/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40092fc56848b1379014e31ba00d14ea82e6bf84 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/config.yaml @@ -0,0 +1,156 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 60 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..392172e4a48c7236af8bda23de7cce731ae0b1e4 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..501e85bfab7c723ebf8f5a70dff294df08ba6d13 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40092fc56848b1379014e31ba00d14ea82e6bf84 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/config.yaml @@ -0,0 +1,156 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 60 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..392172e4a48c7236af8bda23de7cce731ae0b1e4 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.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: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/lock.mdb differ