diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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_from_shelf_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e7a60bb791beef7739b1b8ad69172aea21e1ee4e Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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_from_shelf_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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_from_shelf_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml @@ -0,0 +1,162 @@ +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: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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_from_shelf_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/000/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9a250e1ae9f790f6d739ab00e9f804866d1f782f Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9a250e1ae9f790f6d739ab00e9f804866d1f782f Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..efbb8ec1d259f69ece735904116c98d13255c3a7 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4cbde5babae33a0cb173279e3e5a0b8b26ab56c2 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3c061428ae78caaec161b27679a3bc97559e22b8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..53a8b74b9b7e87baa6ee661cfaae63d6a42549ce Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b461e8826349e10e17ee2f6a90765428c8796bc Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/007/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..21ce31e3147e929f15cb7d18e7ba98125867b1d6 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/008/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..986bd91725a5922d8e4da3b7fa5d1d76cb215b3e Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/009/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..927185b969a168e981bd5b16ef3e10538880bd96 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/config.yaml @@ -0,0 +1,588 @@ +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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/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_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/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_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/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_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/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_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/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_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/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_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/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_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/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_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/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_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/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_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/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_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/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_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/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_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/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_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/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_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/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_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/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_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/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_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/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_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/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_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/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_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/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_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/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_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/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_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/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_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/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_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/000/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5ec20a3f2ff2d9ef02cd9bb93e2233bcaa53c999 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/001/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6def4a7ca3927dd21a4e3faf4aa071c5aefbc4ac Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/002/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1aad355315644bdcd393f32896333e5019965099 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/003/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/004/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2e292dbea5e27835f4509178c3e75aa53a38362a Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/005/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6c19af1d13317aa365a8960aa438259151a738e4 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/006/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9073fbee3862515e16c3da852a15e96a82ab532 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/007/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1a1b1aa35d2f81d5d44d7cbd8d06a82aa54d99ff Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/008/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/009/config.yaml @@ -0,0 +1,1018 @@ +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/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file