diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..98a6bff95f03c3a9204f050fac3cb173e8d3a299 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..74a07b795a5e3b7aabfafa442217fa02ff9c7e29 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..98a6bff95f03c3a9204f050fac3cb173e8d3a299 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..74a07b795a5e3b7aabfafa442217fa02ff9c7e29 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c9d8ed099bb947ccb84c2d353e227e4a979e4ee7 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/config.yaml @@ -0,0 +1,179 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # must keep fixed to grasp bookmark + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 0 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + # motion_config: + # grasp_distance: 0.005 + mode: manual + planner: curobo + instruction: put the bookmark on the top of the book. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 1.0 + random_range_y: -2.8 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # reset_orientation: false + # orientation: + # - 0.0 + # - 1.0 + # - 0.0 + # - 0.0 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '14' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '03' # update uid + '2': + type: existed_object + uid_list: + - '04' # update uid + '3': + type: existed_object + uid_list: + - '05' # update uid + '4': + type: existed_object + uid_list: + - '02' # update uid + '5': + type: existed_object + uid_list: + - '01' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.49, -3.1, -0.38] # update to fit the scene + # orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task2_ready + usd_name: scene_usds/ebench/simple_pnp/task2/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Place the bookmark on top of the book." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task2_obj + usd_name: scene_usds/ebench/simple_pnp/task2/scene diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c9d8ed099bb947ccb84c2d353e227e4a979e4ee7 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/000/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/000/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/001/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/001/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/002/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/003/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/004/config.yaml @@ -0,0 +1,394 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + 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: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + 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, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + 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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/000/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/001/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/002/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/003/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/004/config.yaml @@ -0,0 +1,283 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8f8700f8bb262e71a0524926c5a4bbf39ddf481f Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train/000/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/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: 5 + 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/000/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train/001/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/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: 5 + 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/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train/002/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/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: 5 + 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/002/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train/003/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/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: 5 + 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/003/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train/004/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/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: 5 + 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/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..dde2144332d5986619a55db3614481b8078864dd Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0a52ad5955a8ecf21cf15de7cfe2c272f093442f Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0a52ad5955a8ecf21cf15de7cfe2c272f093442f Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/config.yaml @@ -0,0 +1,235 @@ +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 + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + 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 + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_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/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/lock.mdb differ